urdf/open_manipulator.urdf.xacro

   1 <?xml version="1.0"?>
   2 <!-- Open_Manipulator Chain -->
   3 <robot name="open_manipulator" xmlns:xacro="http://ros.org/wiki/xacro">
   4
   5         <!-- Import all Gazebo-customization elements, including Gazebo colors -->
   6         <xacro:include filename="$(find open_manipulator_description)/urdf/open_manipulator.gazebo.xacro" />
   7         <!-- Import Rviz colors -->
   8         <xacro:include filename="$(find open_manipulator_description)/urdf/materials.xacro" />
   9         <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro"/>
  10
  11         <!-- Transmission macro -->
  12         <xacro:macro name="SimpleTransmission" params="joint n">
  13                 <transmission name="tran${n}">
  14                         <type>transmission_interface/SimpleTransmission</type>
  15                         <joint name="${joint}">
  16                                 <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  17                         </joint>
  18                         <actuator name="motor${n}">
  19                                 <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  20                                 <mechanicalReduction>1</mechanicalReduction>
  21                         </actuator>
  22                 </transmission>
  23         </xacro:macro>
  24
  25         <link name="open_manipulator_base">
  26         </link>
  27
  28         <joint name="world_fixed" type="fixed">
  29                 <origin xyz="0 0 0" rpy="0 0 0"/>
  30                 <parent link="open_manipulator_base"/>
  31                 <child link="link1"/>
  32         </joint>
  33
  34         <!-- Link 1 -->
  35         <link name="link1">
  36                 <visual>
  37                         <origin xyz="0 0 0" rpy="0 0 0"/>
  38                         <geometry>
  39                                 <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
  40                         </geometry>
  41                         <material name="grey"/>
  42                 </visual>
  43
  44                 <collision>
  45                         <origin xyz="0 0 0" rpy="0 0 0"/>
  46                         <geometry>
  47                                 <mesh filename="package://open_manipulator_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
  48                         </geometry>
  49                 </collision>
  50
  51 <!--    <inertial>
  52       <origin xyz="0 0 0" />
  53       <mass value="0.082" />
  54       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
  55                iyy="0.1" iyz="0.0"
  56                izz="0.1" />
  57     </inertial>-->
  58
  59      <inertial>
  60              <origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04" />
  61              <mass value="7.9119962e-02" />
  62              <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07"
  63                      iyy="2.1898364e-05" iyz="0.0"
  64                      izz="1.9267361e-05" />
  65      </inertial>
  66   </link>
  67
  68   <!-- Joint 1 -->
  69   <joint name="joint1" type="revolute">
  70           <parent link="link1"/>
  71           <child link="link2"/>
  72           <origin xyz="0.012 0.0 0.017" rpy="0 0 0"/>
  73           <axis xyz="0 0 1"/>
  74           <limit velocity="4.8" effort="1" lower="${-pi}" upper="${pi}" />
  75   </joint>
  76
  77   <!-- Transmission 1 -->
  78   <xacro:SimpleTransmission n="1" joint="joint1" />
  79
  80   <!--  Link 2 -->
  81   <link name="link2">
  82           <visual>
  83                   <origin xyz="0 0 0.019" rpy="0 0 0"/>
  84                   <geometry>
  85                           <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
  86                   </geometry>
  87                   <material name="grey"/>
  88           </visual>
  89
  90           <collision>
  91                   <origin xyz="0 0 0.019" rpy="0 0 0"/>
  92                   <geometry>
  93                           <mesh filename="package://open_manipulator_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
  94                   </geometry>
  95           </collision>
  96
  97 <!--    <inertial>
  98       <origin xyz="0 0 0" />
  99       <mass value="0.098" />
 100       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 101                iyy="0.1" iyz="0.0"
 102                izz="0.1" />
 103     </inertial>-->
 104
 105      <inertial>
 106              <origin xyz="-3.0184870e-04 5.4043684e-04 ${0.018 + 2.9433464e-02}" />
 107              <mass value="9.8406837e-02" />
 108              <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07"
 109                      iyy="3.2689329e-05" iyz="2.8511935e-08"
 110                      izz="1.8850320e-05" />
 111      </inertial>
 112   </link>
 113
 114   <!--  Joint 2 -->
 115   <joint name="joint2" type="revolute">
 116           <parent link="link2"/>
 117           <child link="link3"/>
 118           <origin xyz="0.0 0.0 0.0595" rpy="0 0 0"/>
 119           <axis xyz="0 1 0"/>
 120           <limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.64}" />
 121   </joint>
 122
 123   <!-- Transmission 2 -->
 124   <xacro:SimpleTransmission n="2" joint="joint2" />
 125
 126   <!--  Link 3 -->
 127   <link name="link3">
 128           <visual>
 129                   <origin xyz="0 0 0" rpy="0 0 0"/>
 130                   <geometry>
 131                           <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
 132                   </geometry>
 133                   <material name="grey"/>
 134           </visual>
 135
 136           <collision>
 137                   <origin xyz="0 0 0" rpy="0 0 0"/>
 138                   <geometry>
 139                           <mesh filename="package://open_manipulator_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
 140                   </geometry>
 141           </collision>
 142
 143 <!--    <inertial>
 144       <origin xyz="0 0 0" />
 145       <mass value="0.136" />
 146       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 147                iyy="0.1" iyz="0.0"
 148                izz="0.1" />
 149     </inertial>-->
 150
 151      <inertial>
 152              <origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01" />
 153              <mass value="1.3850917e-01" />
 154              <inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05"
 155                      iyy="3.4290447e-04" iyz="-1.5717516e-06"
 156                      izz="6.0346498e-05" />
 157      </inertial>
 158   </link>
 159
 160   <!--  Joint 3 -->
 161   <joint name="joint3" type="revolute">
 162           <parent link="link3"/>
 163           <child link="link4"/>
 164           <origin xyz="0.024 0 0.128" rpy="0 0 0"/>
 165           <axis xyz="0 1 0"/>
 166           <limit velocity="4.8" effort="1" lower="${-pi*0.64}" upper="${pi*0.48}" />
 167   </joint>
 168
 169   <!-- Transmission 3 -->
 170   <xacro:SimpleTransmission n="3" joint="joint3" />
 171
 172   <!--  Link 4 -->
 173   <link name="link4">
 174           <visual>
 175                   <origin xyz="0 0 0" rpy="0 0 0"/>
 176                   <geometry>
 177                           <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 178                   </geometry>
 179                   <material name="grey"/>
 180           </visual>
 181
 182           <collision>
 183                   <origin xyz="0 0 0" rpy="0 0 0"/>
 184                   <geometry>
 185                           <mesh filename="package://open_manipulator_description/meshes/chain_link4.stl" scale="0.001 0.001 0.001"/>
 186                   </geometry>
 187           </collision>
 188
 189 <!--    <inertial>
 190       <origin xyz="0 0 0" />
 191       <mass value="0.131" />
 192       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 193                iyy="0.1" iyz="0.0"
 194                izz="0.1" />
 195     </inertial>-->
 196
 197      <inertial>
 198              <origin xyz="9.0909590e-02 3.8929816e-04 2.2413279e-04" />
 199              <mass value="1.3274562e-01" />
 200              <inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07"
 201                      iyy="2.4230292e-04" iyz="1.1559550e-08"
 202                      izz="2.5155057e-04" />
 203      </inertial>
 204   </link>
 205
 206   <!--  Joint 4 -->
 207   <joint name="joint4" type="revolute">
 208           <parent link="link4"/>
 209           <child link="link5"/>
 210           <origin xyz="0.124 0.0 0.0" rpy="0 0 0"/>
 211           <axis xyz="0 1 0"/>
 212           <limit velocity="4.8" effort="1" lower="${-pi*0.57}" upper="${pi*0.65}" />
 213   </joint>
 214
 215   <!-- Transmission 4 -->
 216   <xacro:SimpleTransmission n="4" joint="joint4" />
 217
 218   <!--  Link 5 -->
 219   <link name="link5">
 220           <visual>
 221                   <origin xyz="0 0 0" rpy="0 0 0"/>
 222                   <geometry>
 223                           <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 224                   </geometry>
 225                   <material name="grey"/>
 226           </visual>
 227
 228           <collision>
 229                   <origin xyz="0 0 0" rpy="0 0 0"/>
 230                   <geometry>
 231                           <mesh filename="package://open_manipulator_description/meshes/chain_link5.stl" scale="0.001 0.001 0.001"/>
 232                   </geometry>
 233           </collision>
 234
 235 <!--    <inertial>
 236       <origin xyz="0 0 0" />
 237       <mass value="0.141" />
 238       <inertia ixx="0.1" ixy="0.0" ixz="0.0"
 239                iyy="0.1" iyz="0.0"
 240                izz="0.1" />
 241     </inertial>-->
 242
 243      <inertial>
 244              <origin xyz="4.4206755e-02 3.6839985e-07 8.9142216e-03" />
 245              <mass value="1.4327573e-01" />
 246              <inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06"
 247                      iyy="7.5980465e-05" iyz="0.0"
 248                      izz="9.3127351e-05" />
 249      </inertial>
 250   </link>
 251
 252   <!--  Gripper link -->
 253   <link name="gripper_link">
 254           <visual>
 255                   <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
 256                   <geometry>
 257                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 258                   </geometry>
 259                   <material name="grey"/>
 260           </visual>
 261
 262           <collision>
 263                   <origin xyz="0.0 0.0 0" rpy="0 0 0"/>
 264                   <geometry>
 265                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_l.stl" scale="0.001 0.001 0.001"/>
 266                   </geometry>
 267           </collision>
 268
 269           <inertial>
 270                   <origin xyz="0 0 0" />
 271                   <mass value="0.017" />
 272                   <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
 273                           iyy="1.0e-03" iyz="0.0"
 274                           izz="1.0e-03" />
 275           </inertial>
 276
 277 <!--     <inertial>
 278       <origin xyz="${0.028 + 8.3720668e-03} ${0.0246 + 9.9696160e-03} -4.2836895e-07" />
 279       <mass value="3.2218127e-02" />
 280       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 281                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 282                izz="1.7605306e-05" />
 283     </inertial>-->
 284   </link>
 285
 286   <!--  Gripper joint -->
 287   <joint name="gripper" type="prismatic">
 288           <parent link="link5"/>
 289           <child link="gripper_link"/>
 290           <origin xyz="0.0817 0.021 0.0" rpy="0 0 0"/>
 291           <axis xyz="0 1 0"/>
 292           <limit velocity="4.8" effort="1" lower="-0.010" upper="0.019" />
 293   </joint>
 294
 295   <!-- Transmission 5 -->
 296   <xacro:SimpleTransmission n="5" joint="gripper" />
 297
 298   <!--  Gripper link sub -->
 299   <link name="gripper_link_sub">
 300           <visual>
 301                   <origin xyz="0.0 -0.0 0" rpy="0 0 0"/>
 302                   <geometry>
 303                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 304                   </geometry>
 305                   <material name="grey"/>
 306           </visual>
 307
 308           <collision>
 309                   <origin xyz="0.0 -0.0 0" rpy="0 0 0"/>
 310                   <geometry>
 311                           <mesh filename="package://open_manipulator_description/meshes/chain_link_grip_r.stl" scale="0.001 0.001 0.001"/>
 312                   </geometry>
 313           </collision>
 314
 315           <inertial>
 316                   <origin xyz="0 0 0" />
 317                   <mass value="0.017" />
 318                   <inertia ixx="1.0e-03" ixy="0.0" ixz="0.0"
 319                           iyy="1.0e-03" iyz="0.0"
 320                           izz="1.0e-03" />
 321           </inertial>
 322
 323 <!--     <inertial>
 324       <origin xyz="${0.028 + 8.3720668e-03} ${-0.0246 - 9.9696160e-03} -4.2836895e-07" />
 325       <mass value="3.2218127e-02" />
 326       <inertia ixx="9.5568826e-06" ixy="2.8424644e-06" ixz="-3.2829197e-10"
 327                iyy="2.2552871e-05" iyz="-3.1463634e-10"
 328                izz="1.7605306e-05" />
 329     </inertial>-->
 330   </link>
 331
 332   <!--  Gripper joint sub -->
 333   <joint name="gripper_sub" type="prismatic">
 334           <parent link="link5"/>
 335           <child link="gripper_link_sub"/>
 336           <origin xyz="0.0817 -0.021 0" rpy="0 0 0"/>
 337           <axis xyz="0 -1 0"/>
 338           <limit velocity="4.8" effort="1" lower="-0.010" upper="0.019" />
 339           <mimic joint="gripper" multiplier="1"/>
 340   </joint>
 341
 342   <!-- Transmission 6 -->
 343   <xacro:SimpleTransmission n="6" joint="gripper_sub" />
 344
 345   <!-- end effector joint -->
 346   <joint name="end_effector_joint" type="fixed">
 347           <origin xyz="0.126 0.0 0.0" rpy="0 0 0"/>
 348           <parent link="link5"/>
 349           <child link="end_effector_link"/>
 350   </joint>
 351
 352   <!-- end effector link -->
 353   <link name="end_effector_link">
 354           <visual>
 355                   <origin xyz="0 0 0" rpy="0 0 0"/>
 356                   <geometry>
 357                           <box size="0.01 0.01 0.01" />
 358                   </geometry>
 359                   <material name="red"/>
 360           </visual>
 361
 362           <inertial>
 363                   <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
 364                   <mass value="0.001"/>
 365                   <inertia ixx="1.0e-06" ixy="0.0" ixz="0.0" iyy="1.0e-06" iyz="0.0" izz="1.0e-06" />
 366           </inertial>
 367   </link>
 368
 369         <sensor_d435 parent="gripper_link">
 370                 <origin xyz="-0.02 -0.018 0.055" rpy="0 0 0"/>
 371         </sensor_d435>
 372 </robot>