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xarm6.urdf.xacro
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xarm6.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="xarm6_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:=${-2.0*pi} joint4_upper_limit:=${2.0*pi}
joint5_lower_limit:=${-1.69297} joint5_upper_limit:=${pi}
joint6_lower_limit:=${-2.0*pi} joint6_upper_limit:=${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="${prefix}link_base">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}White" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.09103" rpy="0 0 0" />
<mass value="2.7" />
<inertia
ixx="0.00494875"
ixy="-3.5E-06"
ixz="1.25E-05"
iyy="0.00494174"
iyz="1.67E-06"
izz="0.002219" />
</inertial>
</link>
<link name="${prefix}link1">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}White" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin xyz="-0.002 0.02692 -0.01332" rpy="0 0 0"/>
<mass value="2.16"/>
<inertia
ixx="0.00539427"
ixy="1.095E-05"
ixz="1.635E-06"
iyy="0.0048979"
iyz="0.000793"
izz="0.00311573"/>
</inertial>
</link>
<joint name="${prefix}joint1" type="revolute">
<parent link="${prefix}link_base"/>
<child link="${prefix}link1"/>
<origin xyz="0 0 0.267" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit
lower="${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">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}White" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link2.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin
xyz="0.03531 -0.21398 0.03386"
rpy="0 0 0" />
<mass
value="1.71" />
<inertia
ixx="0.0248674"
ixy="-0.00430651"
ixz="-0.00067797"
iyy="0.00485548"
iyz="0.00457245"
izz="0.02387827" />
</inertial>
</link>
<joint name="${prefix}joint2" type="revolute">
<parent link="${prefix}link1"/>
<child link="${prefix}link2"/>
<origin xyz="0 0 0" rpy="-1.5708 0 0" />
<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="${prefix}link3">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}White" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link3.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin
xyz="0.06781 0.10749 0.01457"
rpy="0 0 0" />
<mass
value="1.384" />
<inertia
ixx="0.0053694"
ixy="0.0014185"
ixz="-0.00092094"
iyy="0.0032423"
iyz="-0.00169178"
izz="0.00501731" />
</inertial>
</link>
<joint name="${prefix}joint3" type="revolute">
<parent link="${prefix}link2"/>
<child link="${prefix}link3"/>
<origin xyz="0.0535 -0.2845 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit
lower="${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">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}White" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link4.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin xyz="-0.00021 0.02578 -0.02538" rpy="0 0 0"/>
<mass value="1.115"/>
<inertia
ixx="0.00439263"
ixy="5.028E-05"
ixz="1.374E-05"
iyy="0.0040077"
iyz="0.00045338"
izz="0.00110321"/>
</inertial>
</link>
<joint name="${prefix}joint4" type="revolute">
<parent link="${prefix}link3"/>
<child link="${prefix}link4"/>
<origin xyz="0.0775 0.3425 0" rpy="-1.5708 0 0"/>
<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="${prefix}link5">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}White" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link5.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin
xyz="0.05428 0.01781 0.00543"
rpy="0 0 0" />
<mass
value="1.275" />
<inertia
ixx="0.001202758"
ixy="0.000492428"
ixz="-0.00039147"
iyy="0.0022876"
iyz="-1.235E-04"
izz="0.0026866" />
</inertial>
</link>
<joint name="${prefix}joint5" type="revolute">
<parent link="${prefix}link4"/>
<child link="${prefix}link5"/>
<origin xyz="0 0 0" rpy="1.5708 0 0"/>
<axis xyz="0 0 1"/>
<limit
lower="${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">
<visual>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
<material name="${prefix}Silver" />
</visual>
<collision>
<geometry>
<!-- <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/> -->
<mesh filename="file:///$(find xarm_description)/meshes/xarm6/visual/link6.stl"/>
</geometry>
<origin xyz="0 0 0" rpy="0 0 0"/>
</collision>
<inertial>
<origin
xyz="0 0.00064 -0.00952"
rpy="0 0 0" />
<mass
value="0.1096" />
<inertia
ixx="4.5293E-05"
ixy="0"
ixz="0"
iyy="4.8111E-05"
iyz="0"
izz="7.9715E-05" />
</inertial>
</link>
<joint name="${prefix}joint6" type="revolute">
<parent link="${prefix}link5"/>
<child link="${prefix}link6"/>
<origin xyz="0.076 0.097 0" rpy="-1.5708 0 0"/>
<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>