/
panda_arm.xacro
261 lines (261 loc) · 9.68 KB
/
panda_arm.xacro
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
<xacro:macro name="panda_arm" params="arm_id:='panda' model_name:='Franka' connected_to:='' xyz:='0 0 0' rpy:='0 0 0'">
<xacro:unless value="${not connected_to}">
<link name="${connected_to}"/>
<joint name="${arm_id}_joint_${connected_to}" type="fixed">
<parent link="${connected_to}"/>
<child link="${arm_id}_link0"/>
<origin rpy="${rpy}" xyz="${xyz}"/>
</joint>
</xacro:unless>
<link name="${arm_id}_link0">
<inertial>
<mass value="1.2" />
<origin rpy="0 0 0" xyz="0 0 0.055" />
<inertia ixx="0.00229" ixy="0" ixz="0" iyy="0.00216" iyz="0" izz="0.00229" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link0.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link0_collision.STL"/>
</geometry>
</collision>
</link>
<link name="${arm_id}_link1">
<inertial>
<mass value="2.0" />
<origin rpy="0 0 0" xyz="0 0 0.130" />
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link1.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link1_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="${arm_id}_link0"/>
<child link="${arm_id}_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/>
</joint>
<link name="${arm_id}_link2">
<inertial>
<mass value="2.0" />
<origin rpy="0 0 0" xyz="0 -0.06 0.07" />
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link2.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link2_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.74097" soft_upper_limit="1.74097"/>
<origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="${arm_id}_link1"/>
<child link="${arm_id}_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.5"/>
</joint>
<link name="${arm_id}_link3">
<inertial>
<mass value="2.0" />
<origin rpy="0 0 0" xyz="0 -0.06 0.130" />
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link3.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link3_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/>
<parent link="${arm_id}_link2"/>
<child link="${arm_id}_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.5"/>
</joint>
<link name="${arm_id}_link4">
<inertial>
<mass value="2.0" />
<origin rpy="0 0 0" xyz="0 0.06 0.07" />
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link4.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link4_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.98452" soft_upper_limit="0.082935"/>
<origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/>
<parent link="${arm_id}_link3"/>
<child link="${arm_id}_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.5"/>
</joint>
<link name="${arm_id}_link5">
<inertial>
<mass value="2.0" />
<origin rpy="0 0 0" xyz="0 0 0.124" />
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link5.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link5_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/>
<parent link="${arm_id}_link4"/>
<child link="${arm_id}_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/>
</joint>
<link name="${arm_id}_link6">
<inertial>
<mass value="1.0" />
<origin rpy="0 0 0" xyz="0 0 0.0" />
<inertia ixx="0.00260416666667" ixy="0" ixz="0" iyy="0.00260416666667" iyz="0" izz="0.00260416666667" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link6.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link6_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.082935" soft_upper_limit="3.631185"/>
<origin rpy="1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="${arm_id}_link5"/>
<child link="${arm_id}_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="3"/>
</joint>
<link name="${arm_id}_link7">
<inertial>
<mass value="0.2" />
<origin xyz="0 0 0" />
<inertia ixx="6.66666666667e-05" ixy="0" ixz="0" iyy="6.66666666667e-05" iyz="0" izz="0.00012" />
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link7.STL"/>
</geometry>
<material name="">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="model://${model_name}/meshes/link7_collision.STL"/>
</geometry>
</collision>
</link>
<joint name="${arm_id}_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.818745" soft_upper_limit="2.818745"/>
<origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/>
<parent link="${arm_id}_link6"/>
<child link="${arm_id}_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="3"/>
</joint>
<link name="${arm_id}_link8"/>
<joint name="${arm_id}_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="${arm_id}_link7"/>
<child link="${arm_id}_link8"/>
<axis xyz="0 0 0"/>
</joint>
<gazebo reference="${arm_id}_link0"/>
<gazebo reference="${arm_id}_link1"/>
<gazebo reference="${arm_id}_link2"/>
<gazebo reference="${arm_id}_link3"/>
<gazebo reference="${arm_id}_link4"/>
<gazebo reference="${arm_id}_link5"/>
<gazebo reference="${arm_id}_link6"/>
<gazebo reference="${arm_id}_link7"/>
<gazebo reference="${arm_id}_link8"/>
</xacro:macro>
</robot>