413 lines
11 KiB
XML
Executable File
413 lines
11 KiB
XML
Executable File
<?xml version="1.0"?>
|
|
<robot xmlns:xacro="http://ros.org/wiki/xacro">
|
|
<xacro:macro name="lite6_urdf" params="prefix
|
|
joint1_lower_limit:=${-2.0*pi} joint1_upper_limit:=${2.0*pi}
|
|
joint2_lower_limit:=${-2.61799} joint2_upper_limit:=${2.61799}
|
|
joint3_lower_limit:=${-0.061087} joint3_upper_limit:=${5.235988}
|
|
joint4_lower_limit:=${-2.0*pi} joint4_upper_limit:=${2.0*pi}
|
|
joint5_lower_limit:=${-2.1642} joint5_upper_limit:=${2.1642}
|
|
joint6_lower_limit:=${-2.0*pi} joint6_upper_limit:=${2.0*pi}">
|
|
|
|
<material name="${prefix}White">
|
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
|
</material>
|
|
|
|
<material name="${prefix}Silver">
|
|
<color rgba="0.753 0.753 0.753 1.0"/>
|
|
</material>
|
|
|
|
<link name="${prefix}link_base">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00829544579053192 3.26357432323433E-05 0.0631194584987089"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.65393501783165" />
|
|
<inertia
|
|
ixx="0"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyy="0"
|
|
iyz="0"
|
|
izz="0" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/base.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}White" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/base.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link name="${prefix}link1">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.00036 0.03788 -0.0027"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.169" />
|
|
<inertia
|
|
ixx="1.45164E-03"
|
|
ixy="1.24E-05"
|
|
ixz="-6.7E-06"
|
|
iyy="8.873E-04"
|
|
iyz="1.255E-04"
|
|
izz="1.31993E-03" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link1.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}White" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link1.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="${prefix}joint1" type="revolute">
|
|
<origin
|
|
xyz="0 0 0.2435"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="${prefix}link_base" />
|
|
<child
|
|
link="${prefix}link1" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="${joint1_lower_limit}"
|
|
upper="${joint1_upper_limit}"
|
|
effort="50.0"
|
|
velocity="3.14"/>
|
|
<dynamics damping="1.0" friction="1.0"/>
|
|
</joint>
|
|
<link name="${prefix}link2">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.178 0.0 0.0576"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.192" />
|
|
<inertia
|
|
ixx="1.5854E-03"
|
|
ixy="-6.766E-06"
|
|
ixz="-1.15136E-03"
|
|
iyy="5.6097E-03"
|
|
iyz="1.14E-06"
|
|
izz="4.85E-03" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link2.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}White" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link2.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="${prefix}joint2" type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 -1.5708 3.1416" />
|
|
<parent
|
|
link="${prefix}link1" />
|
|
<child
|
|
link="${prefix}link2" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="${joint2_lower_limit}"
|
|
upper="${joint2_upper_limit}"
|
|
effort="50.0"
|
|
velocity="3.14"/>
|
|
<dynamics damping="1.0" friction="1.0"/>
|
|
</joint>
|
|
<link name="${prefix}link3">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.07285 -0.030 -0.0009"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.930" />
|
|
<inertia
|
|
ixx="8.861E-04"
|
|
ixy="-3.9287E-04"
|
|
ixz="7.066E-05"
|
|
iyy="1.5785E-03"
|
|
iyz="-2.445E-05"
|
|
izz="1.84677E-03" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link3.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}White" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link3.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="${prefix}joint3" type="revolute">
|
|
<origin
|
|
xyz="0.2002 0 0"
|
|
rpy="-3.1416 0 1.5708" />
|
|
<parent
|
|
link="${prefix}link2" />
|
|
<child
|
|
link="${prefix}link3" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="${joint3_lower_limit}"
|
|
upper="${joint3_upper_limit}"
|
|
effort="32.0"
|
|
velocity="3.14"/>
|
|
<dynamics damping="1.0" friction="1.0"/>
|
|
</joint>
|
|
<link name="${prefix}link4">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.0004 -0.0275 -0.0817"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.31" />
|
|
<inertia
|
|
ixx="3.705E-03"
|
|
ixy="-2.0E-06"
|
|
ixz="7.17E-06"
|
|
iyy="3.0455E-03"
|
|
iyz="-9.3188E-04"
|
|
izz="1.5413E-03" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link4.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}White" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link4.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="${prefix}joint4" type="revolute">
|
|
<origin
|
|
xyz="0.087 -0.22761 0"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="${prefix}link3" />
|
|
<child
|
|
link="${prefix}link4" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="${joint4_lower_limit}"
|
|
upper="${joint4_upper_limit}"
|
|
effort="32.0"
|
|
velocity="3.14"/>
|
|
<dynamics damping="1.0" friction="1.0"/>
|
|
</joint>
|
|
<link name="${prefix}link5">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0 0.010 0.0019"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.784" />
|
|
<inertia
|
|
ixx="5.668E-04"
|
|
ixy="6E-07"
|
|
ixz="-5.3E-06"
|
|
iyy="5.077E-04"
|
|
iyz="-4.8E-07"
|
|
izz="5.3E-04" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link5.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}White" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link5.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="${prefix}joint5" type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="${prefix}link4" />
|
|
<child
|
|
link="${prefix}link5" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="${joint5_lower_limit}"
|
|
upper="${joint5_upper_limit}"
|
|
effort="32.0"
|
|
velocity="3.14"/>
|
|
<dynamics damping="1.0" friction="1.0"/>
|
|
</joint>
|
|
<link name="${prefix}link6">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0 -0.00194 -0.0102"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.180" />
|
|
<inertia
|
|
ixx="7.726E-05"
|
|
ixy="1E-06"
|
|
ixz="4E-07"
|
|
iyy="8.5665E-05"
|
|
iyz="-6E-07"
|
|
izz="1.4814E-04" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link6.stl"/>
|
|
</geometry>
|
|
<material name="${prefix}Silver" />
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh filename="file:///$(find xarm_description)/meshes/lite6/visual/link6.stl"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint name="${prefix}joint6" type="revolute">
|
|
<origin
|
|
xyz="0 0.0625 0"
|
|
rpy="-1.5708 0 0" />
|
|
<parent
|
|
link="${prefix}link5" />
|
|
<child
|
|
link="${prefix}link6" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="${joint6_lower_limit}"
|
|
upper="${joint6_upper_limit}"
|
|
effort="20.0"
|
|
velocity="3.14"/>
|
|
<dynamics damping="1.0" friction="1.0"/>
|
|
</joint>
|
|
|
|
<!-- <link name="${prefix}link_eef" />
|
|
|
|
<joint
|
|
name="${prefix}joint_eef"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="${prefix}link6" />
|
|
<child
|
|
link="${prefix}link_eef" />
|
|
</joint> -->
|
|
|
|
|
|
<link name="${prefix}pen_link">
|
|
<visual>
|
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
|
<geometry>
|
|
<cylinder radius="0.005" length="0.2"/>
|
|
</geometry>
|
|
<material name="Cyan">
|
|
<color rgba="0.0 1.0 1.0 1.0"/>
|
|
</material>
|
|
</visual>
|
|
|
|
<collision>
|
|
<geometry>
|
|
<box size="0 0 0"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
|
|
<joint name="${prefix}pen_joint" type="fixed">
|
|
<parent link="${prefix}link6"/>
|
|
<child link="${prefix}pen_link"/>
|
|
</joint>
|
|
|
|
<!-- https://github.com/ros-simulation/gazebo_ros_pkgs/blob/foxy/gazebo_plugins/src/gazebo_ros_p3d.cpp -->
|
|
<gazebo>
|
|
<plugin name="pen_position" filename="libgazebo_ros_p3d.so">
|
|
<!-- <alwaysOn>true</alwaysOn> -->
|
|
<ros>
|
|
<remapping>odom:=pen_position</remapping>
|
|
</ros>
|
|
<frame_name>world</frame_name>
|
|
<!-- <body_name>pen_link</body_name> -->
|
|
<body_name>${prefix}link6</body_name>
|
|
<!-- <body_name>${prefix}pen_link</body_name> -->
|
|
<!-- topic name is always /odom -->
|
|
<!-- <topic_name>pen_position</topic_name> -->
|
|
<!-- Update rate in Hz -->
|
|
<update_rate>1000</update_rate>
|
|
<!-- <xyzOffsets>0 0 0</xyzOffsets> -->
|
|
<!-- <rpyOffsets>0 0 0</rpyOffsets> -->
|
|
</plugin>
|
|
</gazebo>
|
|
|
|
</xacro:macro>
|
|
</robot>
|