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Commit 1f31b7d7 authored by ipa-fxm's avatar ipa-fxm
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(re-)add ee_link for both robots

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ur_description/urdf/ur10.urdf.xacro
+ 216
− 208
View file @ 1f31b7d7
......@@ -50,215 +50,223 @@
<xacro:macro name="ur10_robot" params="prefix">
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Base.stl" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
</collision>
<inertial>
<mass value="${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="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
<dynamics damping="1.2" friction="0.0"/>
</joint>
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Base.stl" />
</geometry>
<origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
</collision>
<inertial>
<mass value="${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="${prefix}shoulder_pan_joint" type="revolute">
<parent link="${prefix}base_link" />
<child link = "${prefix}shoulder_link" />
<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
<dynamics damping="1.2" friction="0.0"/>
</joint>
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/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="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="1.2" friction="0.0"/>
</joint>
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${upper_arm_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}forearm_link" />
<origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl" />
</geometry>
</collision>
<inertial>
<mass value="${forearm_mass}" />
<origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${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 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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/collision/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="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
<child link = "${prefix}wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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/collision/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="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
<child link = "${prefix}wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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/collision/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="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/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="${prefix}shoulder_lift_joint" type="revolute">
<parent link="${prefix}shoulder_link" />
<child link = "${prefix}upper_arm_link" />
<origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="1.2" friction="0.0"/>
</joint>
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<material name="UR/Blue" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.stl" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${upper_arm_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
</inertial>
</link>
<joint name="${prefix}elbow_joint" type="revolute">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}forearm_link" />
<origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Forearm.stl" />
</geometry>
<material name="UR/Grey" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl" />
</geometry>
</collision>
<inertial>
<mass value="${forearm_mass}" />
<origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${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 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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/collision/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="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_2_joint" type="revolute">
<parent link="${prefix}wrist_1_link" />
<child link = "${prefix}wrist_2_link" />
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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/collision/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="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${prefix}wrist_3_joint" type="revolute">
<parent link="${prefix}wrist_2_link" />
<child link = "${prefix}wrist_3_link" />
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="${pi}"/>
<dynamics damping="0.6" friction="0.0"/>
</joint>
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/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/collision/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="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="${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:ur10_arm_transmission prefix="${prefix}" />
<xacro:ur10_arm_gazebo prefix="${prefix}" />
......
ur_description/urdf/ur5.urdf.xacro
+ 8
− 1
View file @ 1f31b7d7
......@@ -239,10 +239,17 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 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="${prefix}ee_fixed_joint" type="fixed">
<parent link="${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}" />
</xacro:macro>
</robot>
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