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<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">
<include filename="$(find ur_description)/urdf/ur10.transmission.xacro" />
<include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
<include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<property name="pi" value="3.14159265" />
<!-- Inertia parameters -->
<property name="base_mass" value="4.0" />
<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" />
<property name="forearm_cog" value="0.0 0.0265 0.11993" />
<property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
<property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
<property name="wrist_3_cog" value="0.0 0.001159 0.0" />
<property name="shoulder_height" value="0.128" />
<property name="shoulder_offset" value="0.1704" />
<property name="upper_arm_length" value="0.60186" />
<property name="elbow_offset" value="0.12817" />
<property name="forearm_length" value="0.56415" />
<property name="wrist_1_length" value="0.11279" />
<property name="wrist_2_length" value="0.11279" />
<property name="wrist_3_length" value="0.0857" />
<property name="shoulder_radius" value="0.060" />
<property name="upper_arm_radius" value="0.054" />
<property name="elbow_radius" value="0.060" />
<property name="forearm_radius" value="0.040" />
<property name="wrist_radius" value="0.045" />
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<!-- Collision model -->
<property name="base_collision_length" value="0.160" />
<property name="shoulder_collision_length" value="0.200" />
<property name="shoulder_collision_offset" value="0.035" />
<property name="elbow_collision_length" value="0.200" />
<property name="elbow_collision_offset" value="0.035" />
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<xacro:macro name="ur10_robot" params="parent name *origin">
<!-- joint between base_link and ur_base_link -->
<joint name="${name}_base_joint" type="fixed" >
<insert_block name="origin" />
<parent link="${parent}" />
<child link="${name}_base_link" />
<link name="${name}_base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Base.stl" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
<material name="UR/Blue" />
</visual>
<inertial>
<mass value="${base_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${name}_shoulder_pan_joint" type="revolute">
<parent link="${name}_base_link" />
<child link = "${name}_shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
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<link name="${name}_shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Shoulder.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Shoulder.stl" />
</geometry>
</collision>
<inertial>
<mass value="${shoulder_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<joint name="${name}_shoulder_lift_joint" type="revolute">
<parent link="${name}_shoulder_link" />
<child link = "${name}_upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
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<link name="${name}_upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${upper_arm_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<joint name="${name}_elbow_joint" type="revolute">
<parent link="${name}_upper_arm_link" />
<child link = "${name}_forearm_link" />
<origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Forearm.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Forearm.stl" />
</geometry>
</collision>
<inertial>
<mass value="${forearm_mass}" />
<origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${name}_wrist_1_joint" type="revolute">
<parent link="${name}_forearm_link" />
<child link = "${name}_wrist_1_link" />
<origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist1.stl" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist1.stl" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
</collision>
<inertial>
<mass value="${wrist_1_mass}" />
<origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${name}_wrist_2_joint" type="revolute">
<parent link="${name}_wrist_1_link" />
<child link = "${name}_wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
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<link name="${name}_wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist2.stl" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist2.stl" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_2_mass}" />
<origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${name}_wrist_3_joint" type="revolute">
<parent link="${name}_wrist_2_link" />
<child link = "${name}_wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
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<link name="${name}_wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist3.stl" />
</geometry>
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist3.stl" />
</geometry>
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
</collision>
<inertial>
<mass value="${wrist_3_mass}" />
<origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<xacro:ur10_arm_transmission name="${name}" />
<xacro:ur10_arm_gazebo name="${name}" />
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