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Commit 86c24787 authored by ipa-fxm's avatar ipa-fxm
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add joint_limited urdf.xacros for both robots

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ur_description/urdf/ur10_limited.urdf.xacro 0 → 100644
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find ur_description)/urdf/ur10.transmission.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur10.gazebo.xacro" />
<xacro:include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<property name="pi" value="3.14159265" />
<!-- Inertia parameters -->
<property name="base_mass" value="4.0" />
<property name="shoulder_mass" value="3.7000" />
<property name="upper_arm_mass" value="8.3930" />
<property name="forearm_mass" value="2.2750" />
<property name="wrist_1_mass" value="1.2190" />
<property name="wrist_2_mass" value="1.2190" />
<property name="wrist_3_mass" value="0.1879" />
<property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
<property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
<property name="forearm_cog" value="0.0 0.0265 0.11993" />
<property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
<property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
<property name="wrist_3_cog" value="0.0 0.001159 0.0" />
<!-- Kinematic model -->
<property name="shoulder_height" value="0.128" />
<property name="shoulder_offset" value="0.1704" />
<property name="upper_arm_length" value="0.60186" />
<property name="elbow_offset" value="0.12817" />
<property name="forearm_length" value="0.56415" />
<property name="wrist_1_length" value="0.11279" />
<property name="wrist_2_length" value="0.11279" />
<property name="wrist_3_length" value="0.0857" />
<property name="shoulder_radius" value="0.060" />
<property name="upper_arm_radius" value="0.054" />
<property name="elbow_radius" value="0.060" />
<property name="forearm_radius" value="0.040" />
<property name="wrist_radius" value="0.045" />
<!-- Collision model -->
<property name="base_collision_length" value="0.160" />
<property name="shoulder_collision_length" value="0.200" />
<property name="shoulder_collision_offset" value="0.035" />
<property name="elbow_collision_length" value="0.200" />
<property name="elbow_collision_offset" value="0.035" />
<xacro:macro name="ur10_robot" params="prefix">
<link name="${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 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${pi}" upper="${pi}" effort="330.0" velocity="2.16"/>
<dynamics damping="1.2" friction="0.0"/>
</joint>
<link name="${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 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${pi}" upper="${pi}" effort="10.0" velocity="${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} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${pi}" upper="${pi}" effort="150.0" velocity="${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 ${pi / 2.0} 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${pi}" upper="${pi}" effort="54.0" velocity="${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 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 0.0 1.0" />
<limit lower="${pi}" upper="${pi}" effort="54.0" velocity="${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 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0.0 1.0 0.0" />
<limit lower="${pi}" upper="${pi}" effort="54.0" velocity="${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}" />
</xacro:macro>
</robot>
ur_description/urdf/ur10_limited_robot.urdf.xacro 0 → 100644
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− 0
View file @ 86c24787
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
name="ur10" >
<!-- common stuff -->
<xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
<!-- ur10 -->
<xacro:include filename="$(find ur_description)/urdf/ur10_limited.urdf.xacro" />
<!-- arm -->
<xacro:ur10_robot prefix="">
</xacro:ur10_robot>
</robot>
ur_description/urdf/ur5_limited.urdf.xacro 0 → 100644
+ 255
− 0
View file @ 86c24787
<?xml version="1.0"?>
<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" />
<!--
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="pi" value="3.14159265" />
<!-- Inertia parameters -->
<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 -->
<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 -->
<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 -->
<xacro:macro name="ur5_robot" params="prefix">
<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 ${3.0 * pi / 4.0}" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Base.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
</collision>
<inertial>
<mass value="${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 ${shoulder_height}" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
<limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="${pi}"/>
<dynamics damping="0.4" friction="0.0"/>
</joint>
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
</collision>
<inertial>
<mass value="${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 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<limit lower="${pi}" upper="${pi}" effort="150.0" velocity="${pi}"/>
<dynamics damping="0.4" friction="0.0"/>
</joint>
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2125"/> -->
</collision>
<inertial>
<mass value="${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} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit lower="${pi}" upper="${pi}" effort="150.0" velocity="${pi}"/>
<dynamics damping="0.4" friction="0.0"/>
</joint>
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae" />
</geometry>
<!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.196125"/> -->
</collision>
<inertial>
<mass value="${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 ${pi / 2.0} 0.0" />
<axis xyz="0 1 0" />
<limit lower="${-1.0 * pi}" upper="${0.25 * pi}" effort="28.0" velocity="${pi}"/>
<dynamics damping="0.3" 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 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
<axis xyz="0 0 1" />
<limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="28.0" velocity="${pi}"/>
<dynamics damping="0.3" 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 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae" />
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
</collision>
<inertial>
<mass value="${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 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
<axis xyz="0 1 0" />
<limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="28.0" velocity="${pi}"/>
<dynamics damping="0.3" friction="0.0"/>
</joint>
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae" />
</geometry>
</collision>
<inertial>
<mass value="${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:ur5_arm_transmission prefix="${prefix}" />
<xacro:ur5_arm_gazebo prefix="${prefix}" />
</xacro:macro>
</robot>
ur_description/urdf/ur5_limited_robot.urdf.xacro 0 → 100644
+ 15
− 0
View file @ 86c24787
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
name="ur5" >
<!-- common stuff -->
<xacro:include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
<!-- ur5 -->
<xacro:include filename="$(find ur_description)/urdf/ur5_limited.urdf.xacro" />
<!-- arm -->
<xacro:ur5_robot prefix="">
</xacro:ur5_robot>
</robot>
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