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xarm5.urdf.xacro
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xarm5.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="xarm5_urdf" params="prefix
joint1_lower_limit:=${-2.0*pi} joint1_upper_limit:=${2.0*pi}
joint2_lower_limit:=${-2.059} joint2_upper_limit:=${2.0944}
joint3_lower_limit:=${-3.927} joint3_upper_limit:=${0.19198}
joint4_lower_limit:=${-1.69297} joint4_upper_limit:=${pi}
joint5_lower_limit:=${-2.0*pi} joint5_upper_limit:=${2.0*pi}">
<material name="${prefix}Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="${prefix}Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<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="${prefix}link_base">
<inertial>
<origin
xyz="-0.00218 -0.00023 0.08604"
rpy="0 0 0" />
<mass
value="1.95" />
<inertia
ixx="0.004805"
ixy="-8.33E-06"
ixz="0.00026847"
iyy="0.0050349"
iyz="7.23E-06"
izz="0.0025418" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/base_link.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/base_link.STL"/>
</geometry>
<material name="${prefix}White" />
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/base_link.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/base_link.STL"/>
</geometry>
</collision>
</link>
<link
name="${prefix}link1">
<inertial>
<origin
xyz="0.00016 0.02064 -0.01556"
rpy="0 0 0" />
<mass
value="1.85" />
<inertia
ixx="0.0046885"
ixy="-8.67E-06"
ixz="2.439E-05"
iyy="0.0041688"
iyz="0.0006114"
izz="0.0024758" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link1.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link1.STL"/>
</geometry>
<material name="${prefix}White" />
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link1.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link1.STL"/>
</geometry>
</collision>
</link>
<joint
name="${prefix}joint1"
type="revolute">
<origin
xyz="0 0 0.267"
rpy="0 0 0" />
<parent
link="${prefix}link_base" />
<child
link="${prefix}link1" />
<axis
xyz="0 0 1" />
<limit
lower="${joint1_lower_limit}"
upper="${joint1_upper_limit}"
effort="50"
velocity="3.14" />
<dynamics
damping="10"
friction="1" />
</joint>
<link
name="${prefix}link2">
<inertial>
<origin
xyz="0.0351 -0.21375 0.02835"
rpy="0 0 0" />
<mass
value="1.71" />
<inertia
ixx="0.024904"
ixy="-0.004271"
ixz="-0.0008356"
iyy="0.004901"
iyz="0.0052393"
izz="0.0238188" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link2.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link2.STL"/>
</geometry>
<material name="${prefix}White" />
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link2.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link2.STL"/>
</geometry>
</collision>
</link>
<joint
name="${prefix}joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="-1.5708 0 0" />
<parent
link="${prefix}link1" />
<child
link="${prefix}link2" />
<axis
xyz="0 0 1" />
<limit
lower="${joint2_lower_limit}"
upper="${joint2_upper_limit}"
effort="50"
velocity="3.14" />
<dynamics
damping="10"
friction="1" />
</joint>
<link
name="${prefix}link3">
<inertial>
<origin
xyz="0.06716 0.2299 -0.00249"
rpy="0 0 0" />
<mass
value="1.74" />
<inertia
ixx="0.0335922"
ixy="0.0040788"
ixz="-0.0014658"
iyy="0.0055857"
iyz="-0.0080609"
izz="0.0318905" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link3.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link3.STL"/>
</geometry>
<material name="${prefix}White" />
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link3.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link3.STL"/>
</geometry>
</collision>
</link>
<joint
name="${prefix}joint3"
type="revolute">
<origin
xyz="0.0535 -0.2845 0"
rpy="0 0 0" />
<parent
link="${prefix}link2" />
<child
link="${prefix}link3" />
<axis
xyz="0 0 1" />
<limit
lower="${joint3_lower_limit}"
upper="${joint3_upper_limit}"
effort="30"
velocity="3.14" />
<dynamics
damping="5"
friction="1" />
</joint>
<link
name="${prefix}link4">
<inertial>
<origin
xyz="0.0636 0.02203 0.00355"
rpy="0 0 0" />
<mass
value="1.13" />
<inertia
ixx="0.0010927"
ixy="0.0003076"
ixz="-0.0002076"
iyy="0.0016058"
iyz="-8.863E-05"
izz="0.0019148" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link4.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link4.STL"/>
</geometry>
<material name="${prefix}White" />
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link4.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link4.STL"/>
</geometry>
</collision>
</link>
<joint
name="${prefix}joint4"
type="revolute">
<origin
xyz="0.0775 0.3425 0"
rpy="0 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="20"
velocity="3.14" />
<dynamics
damping="3"
friction="1" />
</joint>
<link
name="${prefix}link5">
<inertial>
<origin
xyz="-3E-05 -0.00677 -0.01098"
rpy="0 0 0" />
<mass
value="0.16" />
<inertia
ixx="9.341E-05"
ixy="0.0"
ixz="0.0"
iyy="5.87E-05"
iyz="3.57E-06"
izz="1.33E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link5.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link5.STL"/>
</geometry>
<material name="${prefix}Silver" />
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm5/visual/link5.STL" /> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm5/visual/link5.STL"/>
</geometry>
</collision>
</link>
<joint
name="${prefix}joint5"
type="revolute">
<origin
xyz="0.076 0.097 0"
rpy="-1.5708 0 0" />
<parent
link="${prefix}link4" />
<child
link="${prefix}link5" />
<axis
xyz="0 0 1" />
<limit
lower="${joint5_lower_limit}"
upper="${joint5_upper_limit}"
effort="20"
velocity="3.14" />
<dynamics
damping="3"
friction="1" />
</joint>
<link name="${prefix}link_eef" />
<joint
name="${prefix}joint_eef"
type="fixed">
<origin
xyz="0 0 0"
rpy="0 0 0" />
<parent
link="${prefix}link5" />
<child
link="${prefix}link_eef" />
</joint>
</xacro:macro>
</robot>