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lite6.urdf.xacro
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lite6.urdf.xacro
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<?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>
</xacro:macro>
</robot>