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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur5.gazebo.xacro" />
<xacro:include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<property name="base_mass" value="4.0" /> <!-- Invented number, only matters for simulator -->
<property name="shoulder_mass" value="3.7000" />
<property name="upper_arm_mass" value="8.3930" />
<property name="forearm_mass" value="2.2750" />
<property name="wrist_1_mass" value="1.2190" />
<property name="wrist_2_mass" value="1.2190" />
<property name="wrist_3_mass" value="0.1879" />
<property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
<property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> <!-- 0.11336 - 0.089159 = -->
<property name="forearm_cog" value="0.0 0.0265 0.11993" /> <!-- 0.119 is not half of 0.39225, is this really correct? -->
<property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> <!-- 0.0018 + 0.10915 = 0.110949 -->
<property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> <!-- 0.01634 + 0.09465 = 0.11099-->
<property name="wrist_3_cog" value="0.0 0.001159 0.0" />
<!-- Kinematic model -->
<!-- Properties from urcontrol.conf -->
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
joint_direction = [-1, -1, 1, 1, 1, 1]
mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
-->
<property name="ur5_d1" value="0.1273" />
<property name="ur5_a2" value="-0.612" />
<property name="ur5_a3" value="-0.5723" />
<property name="ur5_d4" value="0.163941" />
<property name="ur5_d5" value="0.1157" />
<property name="ur5_d6" value="0.0922" />
<!-- Arbitrary offsets for shoulder/elbow joints -->
<!--property name="shoulder_offset" value="0.220941" /--> <!-- measured from model -->
<!--property name="elbow_offset" value="-0.1719" /--> <!-- measured from model -->
<!-- link lengths used in model -->
<!--property name="shoulder_height" value="${ur5_d1}" />
<property name="upper_arm_length" value="${-ur5_a2}" />
<property name="forearm_length" value="${-ur5_a3}" />
<property name="wrist_1_length" value="${ur5_d4 - elbow_offset - shoulder_offset}" />
<property name="wrist_2_length" value="${ur5_d5}" />
<property name="wrist_3_length" value="${ur5_d6}" /-->
Wim Meeussen
committed
<property name="shoulder_height" value="0.089159" />
<property name="shoulder_offset" value="0.13585" /> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<property name="upper_arm_length" value="0.42500" />
<property name="elbow_offset" value="0.1197" /> <!-- CAD measured -->
<property name="forearm_length" value="0.39225" />
<property name="wrist_1_length" value="0.093" /> <!-- CAD measured -->
<property name="wrist_2_length" value="0.09465" /> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<property name="wrist_3_length" value="0.0823" />
<property name="shoulder_radius" value="0.060" /> <!-- manually measured -->
Wim Meeussen
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<property name="upper_arm_radius" value="0.054" /> <!-- manually measured -->
<property name="elbow_radius" value="0.060" /> <!-- manually measured -->
<property name="forearm_radius" value="0.040" /> <!-- manually measured -->
<property name="wrist_radius" value="0.045" /> <!-- manually measured -->
Wim Meeussen
committed
<xacro:macro name="cylinder_inertial" params="radius length mass *origin">
<mass value="${mass}" />
<insert_block name="origin" />
<inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
izz="${0.5 * mass * radius * radius}" />
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</xacro:macro>
<xacro:macro name="ur5_robot" params="prefix joint_limited">
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Base.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
<origin xyz="0.0 0.0 0.019" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<joint name="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="330.0" velocity="2.16"/>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
<origin xyz="0.0 0.0 0.089" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<joint name="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="330.0" velocity="2.16"/>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2125"/> -->
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur5_a2}" mass="${upper_arm_mass}">
<origin xyz="0.0 0.0 ${-ur5_a2/2.0}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}forearm_link" />
<origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.196125"/> -->
</collision>
<xacro:cylinder_inertial radius="0.075" length="${-ur5_a3}" mass="${forearm_mass}">
<origin xyz="0.0 0.0 ${-ur5_a3/2.0}" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<joint name="${prefix}wrist_1_joint" type="revolute">
<parent link="${prefix}forearm_link" />
<child link = "${prefix}wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="3.2"/>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae" />
</geometry>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
</collision>
<inertial>
<mass value="${wrist_1_mass}" />
<origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
<child link = "${prefix}wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="3.2"/>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae" />
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
<child link = "${prefix}wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
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<axis xyz="0 1 0" />
<xacro:unless value="${joint_limited}">
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
</xacro:unless>
<xacro:if value="${joint_limited}">
<limit lower="${-pi}" upper="${pi}" effort="54.0" velocity="3.2"/>
</xacro:if>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae" />
</geometry>
</collision>
<xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
</xacro:cylinder_inertial>
</link>
<joint name="${prefix}ee_fixed_joint" type="fixed">
<parent link="${prefix}wrist_3_link" />
<child link = "${prefix}ee_link" />
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
<link name="${prefix}ee_link" />
<xacro:ur5_arm_transmission prefix="${prefix}" />
<xacro:ur5_arm_gazebo prefix="${prefix}" />
Wim Meeussen
committed