335 lines
10 KiB
XML
Executable File
335 lines
10 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="xarm6_urdf" params="prefix
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joint1_lower_limit:=${-2.0*pi} joint1_upper_limit:=${2.0*pi}
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joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
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joint3_lower_limit:=${-3.927} joint3_upper_limit:=${0.19198}
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joint4_lower_limit:=${-2.0*pi} joint4_upper_limit:=${2.0*pi}
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joint5_lower_limit:=${-1.69297} joint5_upper_limit:=${pi}
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joint6_lower_limit:=${-2.0*pi} joint6_upper_limit:=${2.0*pi}">
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<material name="${prefix}Black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="${prefix}Red">
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<color rgba="0.8 0.0 0.0 1.0"/>
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</material>
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<material name="${prefix}White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<material name="${prefix}Silver">
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<color rgba="0.753 0.753 0.753 1.0"/>
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</material>
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<link name="${prefix}link_base">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/base.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}White" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/base.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin xyz="0.0 0.0 0.09103" rpy="0 0 0" />
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<mass value="2.7" />
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<inertia
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ixx="0.00494875"
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ixy="-3.5E-06"
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ixz="1.25E-05"
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iyy="0.00494174"
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iyz="1.67E-06"
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izz="0.002219" />
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</inertial>
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</link>
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<link name="${prefix}link1">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link1.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}White" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link1.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin xyz="-0.002 0.02692 -0.01332" rpy="0 0 0"/>
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<mass value="2.16"/>
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<inertia
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ixx="0.00539427"
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ixy="1.095E-05"
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ixz="1.635E-06"
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iyy="0.0048979"
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iyz="0.000793"
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izz="0.00311573"/>
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</inertial>
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</link>
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<joint name="${prefix}joint1" type="revolute">
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<parent link="${prefix}link_base"/>
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<child link="${prefix}link1"/>
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<origin xyz="0 0 0.267" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit
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lower="${joint1_lower_limit}"
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upper="${joint1_upper_limit}"
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effort="50.0"
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velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="${prefix}link2">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link2.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}White" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link2.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin
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xyz="0.03531 -0.21398 0.03386"
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rpy="0 0 0" />
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<mass
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value="1.71" />
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<inertia
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ixx="0.0248674"
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ixy="-0.00430651"
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ixz="-0.00067797"
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iyy="0.00485548"
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iyz="0.00457245"
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izz="0.02387827" />
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</inertial>
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</link>
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<joint name="${prefix}joint2" type="revolute">
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<parent link="${prefix}link1"/>
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<child link="${prefix}link2"/>
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<origin xyz="0 0 0" rpy="-1.5708 0 0" />
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<axis xyz="0 0 1"/>
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<limit
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lower="${joint2_lower_limit}"
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upper="${joint2_upper_limit}"
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effort="50.0"
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velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="${prefix}link3">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link3.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}White" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link3.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin
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xyz="0.06781 0.10749 0.01457"
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rpy="0 0 0" />
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<mass
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value="1.384" />
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<inertia
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ixx="0.0053694"
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ixy="0.0014185"
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ixz="-0.00092094"
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iyy="0.0032423"
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iyz="-0.00169178"
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izz="0.00501731" />
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</inertial>
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</link>
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<joint name="${prefix}joint3" type="revolute">
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<parent link="${prefix}link2"/>
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<child link="${prefix}link3"/>
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<origin xyz="0.0535 -0.2845 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit
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lower="${joint3_lower_limit}"
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upper="${joint3_upper_limit}"
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effort="32.0"
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velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="${prefix}link4">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link4.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}White" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link4.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin xyz="-0.00021 0.02578 -0.02538" rpy="0 0 0"/>
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<mass value="1.115"/>
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<inertia
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ixx="0.00439263"
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ixy="5.028E-05"
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ixz="1.374E-05"
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iyy="0.0040077"
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iyz="0.00045338"
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izz="0.00110321"/>
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</inertial>
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</link>
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<joint name="${prefix}joint4" type="revolute">
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<parent link="${prefix}link3"/>
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<child link="${prefix}link4"/>
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<origin xyz="0.0775 0.3425 0" rpy="-1.5708 0 0"/>
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<axis xyz="0 0 1"/>
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<limit
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lower="${joint4_lower_limit}"
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upper="${joint4_upper_limit}"
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effort="32.0"
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velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="${prefix}link5">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link5.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}White" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link5.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin
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xyz="0.05428 0.01781 0.00543"
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rpy="0 0 0" />
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<mass
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value="1.275" />
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<inertia
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ixx="0.001202758"
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ixy="0.000492428"
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ixz="-0.00039147"
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iyy="0.0022876"
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iyz="-1.235E-04"
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izz="0.0026866" />
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</inertial>
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</link>
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<joint name="${prefix}joint5" type="revolute">
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<parent link="${prefix}link4"/>
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<child link="${prefix}link5"/>
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<origin xyz="0 0 0" rpy="1.5708 0 0"/>
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<axis xyz="0 0 1"/>
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<limit
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lower="${joint5_lower_limit}"
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upper="${joint5_upper_limit}"
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effort="32.0"
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velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="${prefix}link6">
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<visual>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link6.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<material name="${prefix}Silver" />
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</visual>
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<collision>
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<geometry>
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<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/> -->
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<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link6.stl"/>
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</geometry>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</collision>
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<inertial>
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<origin
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xyz="0 0.00064 -0.00952"
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rpy="0 0 0" />
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<mass
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value="0.1096" />
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<inertia
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ixx="4.5293E-05"
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ixy="0"
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ixz="0"
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iyy="4.8111E-05"
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iyz="0"
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izz="7.9715E-05" />
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</inertial>
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</link>
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<joint name="${prefix}joint6" type="revolute">
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<parent link="${prefix}link5"/>
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<child link="${prefix}link6"/>
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<origin xyz="0.076 0.097 0" rpy="-1.5708 0 0"/>
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<axis xyz="0 0 1"/>
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<limit
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lower="${joint6_lower_limit}"
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upper="${joint6_upper_limit}"
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effort="20.0"
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velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<!-- <link name="${prefix}link_eef" />
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<joint
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name="${prefix}joint_eef"
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type="fixed">
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<parent
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link="${prefix}link6" />
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<child
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link="${prefix}link_eef" />
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</joint> -->
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</xacro:macro>
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</robot> |