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