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Commit bb12a81e authored by Shaun Edwards's avatar Shaun Edwards
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Updated urdf files use collision/visual models.

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ur_bringup/launch/ur10.launch deleted 100644 → 0
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<?xml version="1.0"?>
<!--
Universal robot ur10 launch. Loads ur10 robot description (see ur_common.launch
for more info)
Usage:
ur10.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur10_upload.launch" />
<!-- ur common -->
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</launch>
ur_bringup/launch/ur5.launch deleted 100644 → 0
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<?xml version="1.0"?>
<!--
Universal robot ur5 launch. Loads ur5 robot description (see ur_common.launch
for more info)
Usage:
ur5.launch robot_ip:=<value>
-->
<launch>
<!-- robot_ip: IP-address of the robot's socket-messaging server -->
<arg name="robot_ip" />
<!-- robot model -->
<include file="$(find ur_description)/launch/ur5_upload.launch" />
<!-- ur common -->
<include file="$(find ur_bringup)/launch/ur_common.launch">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
</launch>
ur_description/meshes/ur10/visual/Base.stl 0 → 100644
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ur_description/meshes/ur10/visual/Forearm.stl 0 → 100644
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ur_description/meshes/ur10/visual/Shoulder.stl 0 → 100644
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ur_description/meshes/ur10/visual/UpperArm.stl 0 → 100644
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ur_description/meshes/ur10/visual/Wrist1.stl 0 → 100644
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ur_description/meshes/ur10/visual/Wrist2.stl 0 → 100644
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ur_description/meshes/ur10/visual/Wrist3.stl 0 → 100644
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ur_description/urdf/ur10.urdf.xacro
+ 48
− 48
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......@@ -52,23 +52,23 @@
<xacro:macro name="ur10_robot" params="parent name *origin">
<xacro:macro name="ur10_robot" params="prefix">
<!-- joint between base_link and ur_base_link -->
<joint name="${name}_base_joint" type="fixed" >
<insert_block name="origin" />
<parent link="${parent}" />
<child link="${name}_base_link" />
</joint>
<link name="${name}_base_link" >
<link name="${prefix}base_link" >
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Base.stl" />
<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}" />
......@@ -76,26 +76,26 @@
</inertial>
</link>
<joint name="${name}_shoulder_pan_joint" type="revolute">
<parent link="${name}_base_link" />
<child link = "${name}_shoulder_link" />
<joint name="${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="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_shoulder_link">
<link name="${prefix}shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Shoulder.stl" />
<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/Shoulder.stl" />
<mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.stl" />
</geometry>
</collision>
......@@ -106,19 +106,19 @@
</inertial>
</link>
<joint name="${name}_shoulder_lift_joint" type="revolute">
<parent link="${name}_shoulder_link" />
<child link = "${name}_upper_arm_link" />
<joint name="${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="10" friction="0.1"/>
</joint>
<link name="${name}_upper_arm_link">
<link name="${prefix}upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
<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" />
......@@ -126,7 +126,7 @@
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/UpperArm.stl" />
<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>
......@@ -138,26 +138,26 @@
</inertial>
</link>
<joint name="${name}_elbow_joint" type="revolute">
<parent link="${name}_upper_arm_link" />
<child link = "${name}_forearm_link" />
<joint name="${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="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_forearm_link">
<link name="${prefix}forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Forearm.stl" />
<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/Forearm.stl" />
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.stl" />
</geometry>
</collision>
......@@ -168,19 +168,19 @@
</inertial>
</link>
<joint name="${name}_wrist_1_joint" type="revolute">
<parent link="${name}_forearm_link" />
<child link = "${name}_wrist_1_link" />
<joint name="${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="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_wrist_1_link">
<link name="${prefix}wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist1.stl" />
<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" />
......@@ -188,7 +188,7 @@
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist1.stl" />
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.stl" />
</geometry>
<origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0 0.0" />
</collision>
......@@ -200,19 +200,19 @@
</inertial>
</link>
<joint name="${name}_wrist_2_joint" type="revolute">
<parent link="${name}_wrist_1_link" />
<child link = "${name}_wrist_2_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="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_wrist_2_link">
<link name="${prefix}wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist2.stl" />
<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" />
......@@ -220,7 +220,7 @@
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist2.stl" />
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.stl" />
</geometry>
<origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</collision>
......@@ -232,19 +232,19 @@
</inertial>
</link>
<joint name="${name}_wrist_3_joint" type="revolute">
<parent link="${name}_wrist_2_link" />
<child link = "${name}_wrist_3_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="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="${name}_wrist_3_link">
<link name="${prefix}wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist3.stl" />
<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" />
......@@ -252,7 +252,7 @@
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/Wrist3.stl" />
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.stl" />
</geometry>
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 0" />
</collision>
......@@ -264,8 +264,8 @@
</inertial>
</link>
<xacro:ur10_arm_transmission name="${name}" />
<xacro:ur10_arm_gazebo name="${name}" />
<xacro:ur10_arm_transmission name="${prefix}" />
<xacro:ur10_arm_gazebo name="${prefix}" />
</xacro:macro>
</robot>
ur_description/urdf/ur10_robot.urdf.xacro
+ 1
− 27
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......@@ -7,38 +7,12 @@
<!-- common stuff -->
<include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
<!--include filename="$(find ur_description)/urdf/materials.urdf.xacro" /-->
<!-- ur10 -->
<include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<!-- foot for arm -->
<link name="base_link">
<inertial>
<origin xyz="0 0 -10" rpy="0 0 0"/>
<mass value="1000.0"/>
<inertia ixx="100.0" ixy="0" ixz="0" iyy="100.0" iyz="0" izz="100.0" />
</inertial>
<visual>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<cylinder radius="0.1" length="0.5"/>
</geometry>
<material name="Grey" />
</visual>
<collision>
<origin xyz="0 0 0.25" rpy="0 0 0" />
<geometry>
<cylinder radius="0.1" length="0.5"/>
</geometry>
</collision>
</link>
<!-- arm -->
<xacro:ur10_robot name="arm" parent="base_link">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<xacro:ur10_robot prefix="">
</xacro:ur10_robot>
......
ur_description/urdf/ur5.urdf.xacro
+ 2
− 32
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......@@ -5,8 +5,9 @@
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">
<include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
<include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
<include filename="$(find ur_description)/urdf/ur5.gazebo.xacro" />
<include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
......@@ -250,37 +251,6 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
</joint>
<link name="${prefix}ee_link" />
<!-- Extra links for collision model -->
<!-- Somehow don't work with gazebo TODO: fix this
<joint name="${prefix}shoulder_collision_joint" type="fixed">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}shoulder_collision_link" />
</joint>
<link name="${prefix}shoulder_collision_link">
<collision>
<geometry>
<cylinder length="${shoulder_collision_length}" radius="${shoulder_radius}"/>
</geometry>
<origin xyz="0.0 ${-shoulder_collision_offset} 0.0" rpy="${-pi / 2.0} 0.0 0.0" />
</collision>
</link>
<joint name="${prefix}elbow_collision_joint" type="fixed">
<parent link="${prefix}upper_arm_link" />
<child link = "${prefix}elbow_collision_link" />
</joint>
<link name="${prefix}elbow_collision_link">
<collision>
<geometry>
<cylinder length="${elbow_collision_length}" radius="${elbow_radius}"/>
</geometry>
<origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
</collision>
</link>
-->
<xacro:ur_arm_transmission name="${prefix}" />
......
ur_description/urdf/ur5_robot.urdf.xacro
+ 0
− 1
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......@@ -7,7 +7,6 @@
<!-- common stuff -->
<include filename="$(find ur_description)/urdf/gazebo.urdf.xacro" />
<include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
<!-- ur5 -->
<include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />
......
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