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med7_description.urdf.xacro
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med7_description.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- some constants -->
<xacro:property name="PI" value="3.1415926535897931"/>
<xacro:property name="joint_damping" value="10.0"/>
<xacro:property name="joint_friction" value="0.1"/>
<xacro:property name="max_effort" value="100"/>
<xacro:property name="max_velocity" value="10"/>
<!-- includes -->
<xacro:include filename="$(find lbr_description)/urdf/materials.urdf.xacro"/>
<xacro:include filename="$(find lbr_description)/gazebo/med.gazebo.xacro"/>
<xacro:include filename="$(find lbr_description)/ros2_control/lbr.ros2_control.xacro"/>
<!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
<xacro:macro name="med7" params="parent:=^|world robot_name:=^|lbr sim:=^|true">
<!--joint between {parent} and link_0-->
<joint name="${parent}_${robot_name}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${robot_name}_link_0"/>=
</joint>
<link name="${robot_name}_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.0018958727522859222 -8.736009549202623e-09 0.07626305487275586"/>
<mass value="7.143078"/>
<inertia ixx="0.038693" ixy="-0.000000" ixz="-0.000686" iyy="0.039461" iyz="-0.000000" izz="0.054387"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_0.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_0.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_0" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.0 0.1475"/>
<parent link="${robot_name}_link_0"/>
<child link="${robot_name}_link_1"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="${max_effort}" lower="${-170 * PI / 180}" upper="${170 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_1">
<inertial>
<origin rpy="0 0 0" xyz="5.010328793588479e-08 -0.03481903813472808 0.12329857163085542"/>
<mass value="3.271492"/>
<inertia ixx="0.020611" ixy="-0.000000" ixz="0.000000" iyy="0.019667" iyz="0.003660" izz="0.007290"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.0 0.0 -0.1475"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_1.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0 0.0 -0.1475"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_1.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_1" type="revolute">
<origin rpy="0 0 0" xyz="-0.0 -0.0105 0.1925"/>
<parent link="${robot_name}_link_1"/>
<child link="${robot_name}_link_2"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="${max_effort}" lower="${-120 * PI / 180}" upper="${120 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_2">
<inertial>
<origin rpy="0 0 0" xyz="2.958275959973659e-08 0.03979295468456965 0.08694361150855662"/>
<mass value="3.886440"/>
<inertia ixx="0.030552" ixy="-0.000000" ixz="0.000000" iyy="0.028995" iyz="0.005676" izz="0.009317"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_2.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0105 -0.34"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_2.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_2" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.0105 0.2075"/>
<parent link="${robot_name}_link_2"/>
<child link="${robot_name}_link_3"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="${max_effort}" lower="${-170 * PI / 180}" upper="${170 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_3">
<inertial>
<origin rpy="0 0 0" xyz="-5.010330962930412e-08 0.03481903813473644 0.1232985716309013"/>
<mass value="3.271492"/>
<inertia ixx="0.020611" ixy="-0.000000" ixz="-0.000000" iyy="0.019667" iyz="-0.003660" izz="0.007290"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 -0.0 -0.5475"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_3.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.0 -0.5475"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_3.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_3" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.0105 0.1925"/>
<parent link="${robot_name}_link_3"/>
<child link="${robot_name}_link_4"/>
<axis xyz="0.0 -1.0 0.0"/>
<limit effort="${max_effort}" lower="${-120 * PI / 180}" upper="${120 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_4">
<inertial>
<origin rpy="0 0 0" xyz="-3.025230048709993e-08 -0.03979329512443697 0.08694363375610437"/>
<mass value="3.886439"/>
<inertia ixx="0.030551" ixy="-0.000000" ixz="-0.000000" iyy="0.028993" iyz="-0.005676" izz="0.009316"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.0 -0.0105 -0.74"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_4.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0 -0.0105 -0.74"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_4.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_4" type="revolute">
<origin rpy="0 0 0" xyz="-0.0 -0.0105 0.2075"/>
<parent link="${robot_name}_link_4"/>
<child link="${robot_name}_link_5"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="${max_effort}" lower="${-170 * PI / 180}" upper="${170 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_5">
<inertial>
<origin rpy="0 0 0" xyz="3.887174133882675e-08 -0.02982428408876193 0.07626701716135398"/>
<mass value="1.474035"/>
<inertia ixx="0.008179" ixy="0.000000" ixz="-0.000000" iyy="0.006879" iyz="0.002704" izz="0.003709"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_5.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.9475"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_5.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_5" type="revolute">
<origin rpy="0 0 0" xyz="0.0 -0.0707 0.1925"/>
<parent link="${robot_name}_link_5"/>
<child link="${robot_name}_link_6"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="${max_effort}" lower="${-120 * PI / 180}" upper="${120 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_6">
<inertial>
<origin rpy="0 0 0" xyz="-7.073221144775636e-07 0.07101990943401648 0.004952526180360017"/>
<mass value="2.316917"/>
<inertia ixx="0.006813" ixy="-0.000000" ixz="0.000000" iyy="0.006559" iyz="0.000300" izz="0.004462"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_6.stl"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0707 -1.14"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_6.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_6" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.0707 0.091"/>
<parent link="${robot_name}_link_6"/>
<child link="${robot_name}_link_7"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="${max_effort}" lower="${-175 * PI / 180}" upper="${175 * PI / 180}" velocity="${max_velocity}"/>
<dynamics damping="${joint_damping}" friction="${joint_friction}"/>
</joint>
<link name="${robot_name}_link_7">
<inertial>
<origin rpy="0 0 0" xyz="3.1218274599808524e-06 -1.6358155634513969e-06 0.013782295521067356"/>
<mass value="0.250107"/>
<inertia ixx="0.000165" ixy="0.000000" ixz="-0.000000" iyy="0.000165" iyz="0.000000" izz="0.000288"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.0 -0.0 -1.231"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/visual/link_7.stl"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.0 -0.0 -1.231"/>
<geometry>
<mesh filename="package://lbr_description/meshes/med7/collision/link_7.stl"/>
</geometry>
</collision>
</link>
<joint name="${robot_name}_joint_ee" type="fixed">
<parent link="${robot_name}_link_7"/>
<child link="${robot_name}_link_ee"/>
<origin xyz="0 0 0.035" rpy="0 0 0"/>
</joint>
<link name="${robot_name}_link_ee">
</link>
<xacro:iiwa_gazebo robot_name="${robot_name}"/>
<!-- TODO: move modes to args, decouple urdf/gazebo/controls -->
<!-- add notice for remote host to set to kuka controller -->
<xacro:lbr_hardware_interface sim="${sim}" remote_host="INADDR_ANY" port="30200" robot_name="${robot_name}"/>
</xacro:macro>
</robot>