xarm7.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:macro name="xarm7_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:=${-2.0*pi}  joint3_upper_limit:=${2.0*pi}
    joint4_lower_limit:=${-0.19198}  joint4_upper_limit:=${3.927}
    joint5_lower_limit:=${-2.0*pi}  joint5_upper_limit:=${2.0*pi}
    joint6_lower_limit:=${-1.69297}  joint6_upper_limit:=${pi}
    joint7_lower_limit:=${-2.0*pi}  joint7_upper_limit:=${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="${prefix}link_base">
    <inertial>
      <origin
        xyz="-0.021131 -0.0016302 0.056488"
        rpy="0 0 0" />
      <mass
        value="0.88556" />
      <inertia
        ixx="0.0030595"
        ixy="0.00012259"
        ixz="-0.00062705"
        iyy="0.0037783"
        iyz="0.00027023"
        izz="0.0020125" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link_base.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link_base.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link_base.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link_base.STL"/>
      </geometry>
    </collision>
  </link>
  <link
    name="${prefix}link1">
    <inertial>
      <origin
        xyz="-0.0042142 0.02821 -0.0087788"
        rpy="0 0 0" />
      <mass
        value="0.42603" />
      <inertia
        ixx="0.0014243"
        ixy="3.9946E-05"
        ixz="4.7078E-06"
        iyy="0.00123"
        iyz="-0.00026073"
        izz="0.00099229" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link1.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link1.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link1.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/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="-3.3178E-05 -0.12849 0.026337"
        rpy="0 0 0" />
      <mass
        value="0.56095" />
      <inertia
        ixx="0.0031915"
        ixy="3.0892E-06"
        ixz="2.8729E-06"
        iyy="0.0017468"
        iyz="-0.0010241"
        izz="0.00235" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link2.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link2.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link2.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link2.STL"/>
      </geometry>
    </collision>
  </link>
  <joint
    name="${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="${prefix}link3">
    <inertial>
      <origin
        xyz="0.04223 -0.023258 -0.0096674"
        rpy="0 0 0" />
      <mass
        value="0.44463" />
      <inertia
        ixx="0.0011454"
        ixy="0.0001654"
        ixz="-0.0001951"
        iyy="0.0010503"
        iyz="0.00012027"
        izz="0.0011083" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link3.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link3.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link3.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link3.STL"/>
      </geometry>
    </collision>
  </link>
  <joint
    name="${prefix}joint3"
    type="revolute">
    <origin
      xyz="0 -0.293 0"
      rpy="1.5708 0 0" />
    <parent
      link="${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="0.067148 -0.10732 0.024479"
        rpy="0 0 0" />
      <mass
        value="0.52387" />
      <inertia
        ixx="0.0026033"
        ixy="0.00053379"
        ixz="0.00036314"
        iyy="0.0017649"
        iyz="-0.00083253"
        izz="0.0022431" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link4.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link4.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link4.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link4.STL"/>
      </geometry>
    </collision>
  </link>
  <joint
    name="${prefix}joint4"
    type="revolute">
    <origin
      xyz="0.0525 0 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="30"
      velocity="3.14" />
    <dynamics
      damping="5"
      friction="1" />
  </joint>
  <link
    name="${prefix}link5">
    <inertial>
      <origin
        xyz="-0.00023397 0.036705 -0.080064"
        rpy="0 0 0" />
      <mass
        value="0.18554" />
      <inertia
        ixx="0.00099549"
        ixy="8.9957E-07"
        ixz="8.5285E-07"
        iyy="0.0008853"
        iyz="-0.00025682"
        izz="0.00035048" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link5.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link5.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link5.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link5.STL"/>
      </geometry>
    </collision>
  </link>
  <joint
    name="${prefix}joint5"
    type="revolute">
    <origin
      xyz="0.0775 -0.3425 0"
      rpy="1.5708 0 0" />
    <parent
      link="${prefix}link4" />
    <child
      link="${prefix}link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="${joint5_lower_limit}"
      upper="${joint5_upper_limit}"
      effort="30"
      velocity="3.14" />
    <dynamics
      damping="5"
      friction="1" />
  </joint>
  <link
    name="${prefix}link6">
    <inertial>
      <origin
        xyz="0.058911 0.028469 0.0068428"
        rpy="0 0 0" />
      <mass
        value="0.31344" />
      <inertia
        ixx="0.00052034"
        ixy="-0.00014989"
        ixz="0.00011658"
        iyy="0.00067968"
        iyz="6.116E-05"
        izz="0.00078345" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link6.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link6.STL"/>
      </geometry>
      <material name="${prefix}White" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link6.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link6.STL"/>
      </geometry>
    </collision>
  </link>
  <joint
    name="${prefix}joint6"
    type="revolute">
    <origin
      xyz="0 0 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"
      velocity="3.14" />
    <dynamics
      damping="2"
      friction="1" />
  </joint>
  <link
    name="${prefix}link7">
    <inertial>
      <origin
        xyz="-1.5846E-05 -0.0046377 -0.012705"
        rpy="0 0 0" />
      <mass
        value="0.31468" />
      <inertia
        ixx="0.00016985"
        ixy="1.1102E-07"
        ixz="5.1075E-08"
        iyy="0.00011924"
        iyz="-2.1251E-06"
        izz="0.00026032" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link7.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link7.STL"/>
      </geometry>
      <material name="${prefix}Silver" />
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <!-- <mesh filename="package://xarm_description/meshes/xarm7/visual/link7.STL" /> -->
        <mesh filename="file:///$(find xarm_description)/meshes/xarm7/visual/link7.STL"/>
      </geometry>
    </collision>
  </link>
  <joint
    name="${prefix}joint7"
    type="revolute">
    <origin
      xyz="0.076 0.097 0"
      rpy="-1.5708 0 0" />
    <parent
      link="${prefix}link6" />
    <child
      link="${prefix}link7" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="${joint7_lower_limit}"
      upper="${joint7_upper_limit}"
      effort="20"
      velocity="3.14" />
    <dynamics
      damping="2"
      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}link7" />
    <child
      link="${prefix}link_eef" />
  </joint>
  
  </xacro:macro>
</robot>