544 lines
15 KiB
XML
544 lines
15 KiB
XML
<?xml version="1.0"?>
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<robot name="wx250s_custom" xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:property name="robot_model"
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value="wx250s_custom"
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scope="global"/>
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<xacro:property name="dof"
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value="6"
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scope="global"/>
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<xacro:arg name="robot_name" default="${robot_model}"/>
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<xacro:arg name="base_link_frame" default="base_link"/>
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<xacro:arg name="use_world_frame" default="true"/>
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<xacro:arg name="use_gripper" default="false"/>
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<xacro:arg name="external_urdf_loc" default=""/>
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<xacro:arg name="hardware_type" default="actual"/>
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<xacro:property name="mesh_directory" value="package://interbotix_xsarm_descriptions/meshes/${robot_model}_meshes"/>
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<xacro:property name="urdf_loc" value="$(arg external_urdf_loc)"/>
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<xacro:property name="hardware_type" value="$(arg hardware_type)"/>
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<xacro:property name="pi_offset" value="0.00001"/>
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<xacro:property name="waist_limit_effort" value="10"/>
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<xacro:property name="waist_limit_lower" value="${-pi + pi_offset}"/>
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<xacro:property name="waist_limit_upper" value="${pi - pi_offset}"/>
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<xacro:property name="waist_limit_vel" value="${pi}"/>
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<xacro:property name="shoulder_limit_effort" value="100"/><!-- 20 -->
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<xacro:property name="shoulder_limit_lower" value="${radians(-108)}"/>
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<xacro:property name="shoulder_limit_upper" value="${radians(114)}"/>
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<xacro:property name="shoulder_limit_vel" value="${pi}"/>
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<xacro:property name="elbow_limit_effort" value="15"/>
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<xacro:property name="elbow_limit_lower" value="${radians(-123)}"/>
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<xacro:property name="elbow_limit_upper" value="${radians(92)}"/>
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<xacro:property name="elbow_limit_vel" value="${pi}"/>
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<xacro:property name="forearm_roll_limit_effort" value="2"/>
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<xacro:property name="forearm_roll_limit_lower" value="${-pi + pi_offset}"/>
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<xacro:property name="forearm_roll_limit_upper" value="${pi - pi_offset}"/>
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<xacro:property name="forearm_roll_limit_vel" value="${pi}"/>
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<xacro:property name="wrist_angle_limit_effort" value="5"/>
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<xacro:property name="wrist_angle_limit_lower" value="${radians(-100)}"/>
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<xacro:property name="wrist_angle_limit_upper" value="${radians(123)}"/>
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<xacro:property name="wrist_angle_limit_vel" value="${pi}"/>
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<xacro:property name="wrist_rotate_limit_effort" value="1"/>
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<xacro:property name="wrist_rotate_limit_lower" value="${-pi + pi_offset}"/>
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<xacro:property name="wrist_rotate_limit_upper" value="${pi - pi_offset}"/>
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<xacro:property name="wrist_rotate_limit_vel" value="${pi}"/>
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<xacro:property name="gripper_limit_vel" value="${pi}"/>
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<xacro:property name="finger_limit_effort" value="5"/>
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<xacro:property name="finger_limit_lower" value="0.015"/>
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<xacro:property name="finger_limit_upper" value="0.037"/>
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<xacro:property name="finger_limit_vel" value="1"/>
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<material name="interbotix_black">
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<texture filename="package://interbotix_xsarm_descriptions/meshes/interbotix_black.png"/>
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</material>
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<xacro:if value="$(arg use_world_frame)">
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<link name="world"/>
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<joint name="fixed" type="fixed">
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<parent
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link="world"/>
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<child
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link="$(arg robot_name)/$(arg base_link_frame)"/>
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</joint>
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</xacro:if> <!-- use_world_frame -->
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<link name="$(arg robot_name)/$(arg base_link_frame)">
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<visual>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/base.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/base.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="-0.0380446000 0.0006138920 0.0193354000"/>
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<mass value="0.538736"/>
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<inertia
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ixx="0.0021150000"
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iyy="0.0006921000"
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izz="0.0025240000"
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ixy="-0.0000163500"
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ixz="0.0000006998"
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iyz="0.0000464200"/>
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</inertial>
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</link>
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<joint name="waist" type="revolute">
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<axis xyz="0 0 1"/>
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<limit
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effort="${waist_limit_effort}"
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lower="${waist_limit_lower}"
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upper="${waist_limit_upper}"
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velocity="${waist_limit_vel}"/>
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<origin
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rpy="0 0 0"
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xyz="0 0 0.072"/>
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<parent
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link="$(arg robot_name)/$(arg base_link_frame)"/>
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<child
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link="$(arg robot_name)/shoulder_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="$(arg robot_name)/shoulder_link">
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<visual>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 -0.003"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/shoulder.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 -0.003"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/shoulder.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0.0000223482 0.0000414609 0.0066287000"/>
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<mass value="0.480879"/>
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<inertia
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ixx="0.0003790000"
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iyy="0.0005557000"
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izz="0.0005889000"
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ixy="0.0000000022"
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ixz="-0.0000003561"
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iyz="0.0000012245"/>
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</inertial>
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</link>
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<joint name="shoulder" type="revolute">
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<axis xyz="0 1 0"/>
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<limit
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effort="${shoulder_limit_effort}"
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lower="${shoulder_limit_lower}"
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upper="${shoulder_limit_upper}"
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velocity="${shoulder_limit_vel}"/>
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<origin
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rpy="0 0 0"
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xyz="0 0 0.03865"/>
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<parent
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link="$(arg robot_name)/shoulder_link"/>
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<child
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link="$(arg robot_name)/upper_arm_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="$(arg robot_name)/upper_arm_link">
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<visual>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_arm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_arm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0.0171605000 0.0000002725 0.1913230000"/>
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<mass value="0.430811"/>
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<inertia
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ixx="0.0034630000"
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iyy="0.0035870000"
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izz="0.0004566000"
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ixy="-0.0000000001"
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ixz="-0.0000000002"
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iyz="0.0004272000"/>
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</inertial>
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</link>
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<joint name="elbow" type="revolute">
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<axis xyz="0 1 0"/>
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<limit
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effort="${elbow_limit_effort}"
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lower="${elbow_limit_lower}"
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upper="${elbow_limit_upper}"
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velocity="${elbow_limit_vel}"/>
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<origin
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rpy="0 0 0"
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xyz="0.04975 0 0.25"/>
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<parent
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link="$(arg robot_name)/upper_arm_link"/>
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<child
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link="$(arg robot_name)/upper_forearm_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="$(arg robot_name)/upper_forearm_link">
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<visual>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/upper_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 0"
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xyz="0.1079630000 0.0001158760 0"/>
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<mass value="0.234589"/>
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<inertia
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ixx="0.0000397100"
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iyy="0.0008878000"
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izz="0.0008880000"
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ixy="0.0000023528"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="forearm_roll" type="revolute">
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<axis xyz="1 0 0"/>
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<limit
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effort="${forearm_roll_limit_effort}"
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lower="${forearm_roll_limit_lower}"
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upper="${forearm_roll_limit_upper}"
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velocity="${forearm_roll_limit_vel}"/>
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<origin
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rpy="0 0 0"
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xyz="0.175 0 0"/>
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<parent
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link="$(arg robot_name)/upper_forearm_link"/>
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<child
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link="$(arg robot_name)/lower_forearm_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="$(arg robot_name)/lower_forearm_link">
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<visual>
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<origin
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rpy="${pi} 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/lower_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="${pi} 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/lower_forearm.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="${pi} 0 0"
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xyz="0.0374395000 0.0052225200 0"/>
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<mass value="0.220991"/>
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<inertia
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ixx="0.0000636900"
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iyy="0.0001677000"
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izz="0.0001834000"
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ixy="-0.0000229200"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="wrist_angle" type="revolute">
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<axis xyz="0 1 0"/>
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<limit
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effort="${wrist_angle_limit_effort}"
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lower="${wrist_angle_limit_lower}"
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upper="${wrist_angle_limit_upper}"
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velocity="${wrist_angle_limit_vel}"/>
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<origin
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rpy="0 0 0"
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xyz="0.075 0 0"/>
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<parent
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link="$(arg robot_name)/lower_forearm_link"/>
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<child
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link="$(arg robot_name)/wrist_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="$(arg robot_name)/wrist_link">
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<visual>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/wrist.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/wrist.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0.0423600000 -0.0000106630 0.0105770000"/>
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<mass value="0.084957"/>
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<inertia
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ixx="0.0000308200"
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iyy="0.0000282200"
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izz="0.0000315200"
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ixy="0.0000000191"
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ixz="0.0000000023"
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iyz="0.0000025481"/>
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</inertial>
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</link>
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<joint name="wrist_rotate" type="revolute">
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<axis xyz="1 0 0"/>
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<limit
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effort="${wrist_rotate_limit_effort}"
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lower="${wrist_rotate_limit_lower}"
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upper="${wrist_rotate_limit_upper}"
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velocity="${wrist_rotate_limit_vel}"/>
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<origin
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rpy="0 0 0"
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xyz="0.065 0 0"/>
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<parent
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link="$(arg robot_name)/wrist_link"/>
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<child
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link="$(arg robot_name)/sma_attach_link"/>
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<dynamics
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friction="0.1"
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damping="0.1"/>
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</joint>
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<link name="$(arg robot_name)/sma_attach_link">
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<visual>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0.007 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/attach.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="interbotix_black"/>
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</visual>
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<collision>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0.007 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/attach.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<origin
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rpy="0 0 ${pi/2}"
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xyz="0.0216310000 0.0000002516 0.0114100000"/>
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<mass value="0.072885"/>
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<inertia
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ixx="0.0000253700"
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iyy="0.0000183600"
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izz="0.0000167400"
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ixy="0.0000000000"
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ixz="0.0000000000"
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iyz="0.0000004340"/>
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</inertial>
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</link>
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<joint name="sma" type="fixed">
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<axis xyz="1 0 0"/>
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<origin
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rpy="0 0 0"
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xyz="0.196 0 0"/>
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<parent
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link="$(arg robot_name)/sma_attach_link"/>
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<child
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link="$(arg robot_name)/sma_link"/>
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</joint>
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<link name="$(arg robot_name)/sma_link">
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<visual>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/sma.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/sma.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1"/>
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<inertia
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ixx="0.001"
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iyy="0.001"
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izz="0.001"
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ixy="0"
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ixz="0"
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iyz="0"/>
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</inertial>
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</link>
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<joint name="sma2" type="fixed">
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<axis xyz="1 0 0"/>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<parent
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link="$(arg robot_name)/sma_link"/>
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<child
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link="$(arg robot_name)/sma_link2"/>
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</joint>
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<link name="$(arg robot_name)/sma_link2">
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<visual>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/sma.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin
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rpy="0 0 0"
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xyz="0 0 0"/>
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<geometry>
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<mesh
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filename="${mesh_directory}/sma.stl"
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scale="0.001 0.001 0.001"/>
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</geometry>
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</collision>
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<inertial>
|
|
<mass value="0"/>
|
|
<inertia
|
|
ixx="0.001"
|
|
iyy="0.001"
|
|
izz="0.001"
|
|
ixy="0"
|
|
ixz="0"
|
|
iyz="0"/>
|
|
</inertial>
|
|
</link>
|
|
|
|
<xacro:if value="${hardware_type == 'gz_classic'}">
|
|
<xacro:gazebo_configs/>
|
|
</xacro:if>
|
|
|
|
<xacro:if value="${urdf_loc != ''}">
|
|
<xacro:include filename="${urdf_loc}"/>
|
|
</xacro:if>
|
|
|
|
</robot>
|