| <?xml version="1.0" encoding="utf-8"?>
|
| <robot
|
| name="arm"
|
| xmlns:xacro="http://ros.org/wiki/xacro">
|
|
|
| <link name="world"/>
|
| <joint name="fixed_base_joint" type="fixed">
|
| <parent link="world"/>
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| <child link="base_link"/>
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| </joint>
|
|
|
| <link
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| name="base_link">
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| <inertial>
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| <origin
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| xyz="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189"
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| rpy="0 0 0" />
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| <mass
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| value="0.162548567403693" />
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| <inertia
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| ixx="0.000226596924525071"
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| ixy="-7.33972270153965E-08"
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| ixz="2.13249977802622E-06"
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| iyy="0.000269444772561524"
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| iyz="8.15169009611054E-09"
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| izz="0.000222318258878636" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/base_link.dae" />
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| </geometry>
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| </material>
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| </visual>
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/base_link.STL" />
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| </geometry>
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| </collision>
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| </link>
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| <link
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| name="link1">
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| <inertial>
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| <origin
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| xyz="0.00131676031927024 0.000310288842008612 -0.00922874512303437"
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| rpy="0 0 0" />
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| <mass
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| value="0.0978679932242825" />
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| <inertia
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| ixx="7.76684558296782E-05"
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| ixy="1.09084650459924E-07"
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| ixz="-1.9748053243241E-06"
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| iyy="9.24967780161547E-05"
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| iyz="9.91284646834582E-07"
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| izz="8.24589062407807E-05" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link1.dae" />
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| </geometry>
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| </material>
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| </visual>
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link1.STL" />
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| </geometry>
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| </collision>
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| </link>
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| <joint
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| name="joint1"
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| type="revolute">
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| <origin
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| xyz="0 0 0.123"
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| rpy="0 0 -1.5708" />
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| <parent
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| link="base_link" />
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| <child
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| link="link1" />
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| <axis
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| xyz="0 0 1" />
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| <limit
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| lower="-2.618"
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| upper="2.618"
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| effort="100"
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| velocity="3" />
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| </joint>
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| <link
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| name="link2">
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| <inertial>
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| <origin
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| xyz="0.148793602378802 -0.00242026983944119 0.00175154638467948"
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| rpy="0 0 0" />
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| <mass
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| value="0.290888938633388" />
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| <inertia
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| ixx="0.000148959640166183"
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| ixy="-7.37750384371657E-05"
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| ixz="-9.68688405196236E-07"
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| iyy="0.00172800946632652"
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| iyz="-1.09692225564224E-06"
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| izz="0.0017754628344594" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link2.dae" />
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| </geometry>
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| </material>
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| </visual>
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link2.STL" />
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| </geometry>
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| </collision>
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| </link>
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| <joint
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| name="joint2"
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| type="revolute">
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| <origin
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| xyz="0 0 0"
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| rpy="1.5708 0 -1.5708" />
|
| <parent
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| link="link1" />
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| <child
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| link="link2" />
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| <axis
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| xyz="0 0 1" />
|
| <limit
|
| lower="0"
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| upper="3.14"
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| effort="100"
|
| velocity="3" />
|
| </joint>
|
| <link
|
| name="link3">
|
| <inertial>
|
| <origin
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| xyz="-0.0996835215213704 0.0349477226691318 0.000508025815507312"
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| rpy="0 0 0" />
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| <mass
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| value="0.290847697793211" />
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| <inertia
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| ixx="0.000107879011637167"
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| ixy="2.92669521203626E-05"
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| ixz="6.825922326238E-07"
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| iyy="0.000214751671792086"
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| iyz="-7.78469047878196E-07"
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| izz="0.000241923439340319" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
|
| <mesh
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| filename="package://piper_description/meshes/link3.dae" />
|
| </geometry>
|
| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| </material>
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| </visual>
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| <collision>
|
| <origin
|
| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
|
| <mesh
|
| filename="package://piper_description/meshes/link3.STL" />
|
| </geometry>
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| </collision>
|
| </link>
|
| <joint
|
| name="joint3"
|
| type="revolute">
|
| <origin
|
| xyz="0.28358 0.028726 0"
|
| rpy="0 0 0.10095" />
|
| <parent
|
| link="link2" />
|
| <child
|
| link="link3" />
|
| <axis
|
| xyz="0 0 1" />
|
| <limit
|
| lower="-2.697"
|
| upper="0"
|
| effort="100"
|
| velocity="3" />
|
| </joint>
|
| <link
|
| name="link4">
|
| <inertial>
|
| <origin
|
| xyz="0.000276464622387979 -0.00102803669324875 -0.00472830700561663"
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| rpy="0 0 0" />
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| <mass
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| value="0.127087348341362" />
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| <inertia
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| ixx="3.82011730423416E-05"
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| ixy="-4.92358350897513E-08"
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| ixz="4.89589432973119E-08"
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| iyy="4.87048555222578E-05"
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| iyz="6.70802942500512E-08"
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| izz="4.10592077565559E-05" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
|
| <mesh
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| filename="package://piper_description/meshes/link4.dae" />
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| </geometry>
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| <material
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| name="">
|
| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
|
| </material>
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| </visual>
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| <collision>
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| <origin
|
| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
|
| filename="package://piper_description/meshes/link4.STL" />
|
| </geometry>
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| </collision>
|
| </link>
|
| <joint
|
| name="joint4"
|
| type="revolute">
|
| <origin
|
| xyz="-0.24221 0.068514 0"
|
| rpy="-1.5708 0 1.3826" />
|
| <parent
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| link="link3" />
|
| <child
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| link="link4" />
|
| <axis
|
| xyz="0 0 1" />
|
| <limit
|
| lower="-1.832"
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| upper="1.832"
|
| effort="100"
|
| velocity="3" />
|
| </joint>
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| <link
|
| name="link5">
|
| <inertial>
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| <origin
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| xyz="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461"
|
| rpy="0 0 0" />
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| <mass
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| value="0.144711242639457" />
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| <inertia
|
| ixx="4.39644313662493E-05"
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| ixy="-3.59259686444846E-08"
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| ixz="-1.89747741386183E-08"
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| iyy="5.63173920951307E-05"
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| iyz="-2.1540716689785E-07"
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| izz="4.88713664675268E-05" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
|
| filename="package://piper_description/meshes/link5.dae" />
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| </geometry>
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| </material>
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| </visual>
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
|
| filename="package://piper_description/meshes/link5.STL" />
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| </geometry>
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| </collision>
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| </link>
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| <joint
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| name="joint5"
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| type="revolute">
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| <origin
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| xyz="0 0 0"
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| rpy="1.5708 0 0" />
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| <parent
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| link="link4" />
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| <child
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| link="link5" />
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| <axis
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| xyz="0 0 1" />
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| <limit
|
| lower="-1.22"
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| upper="1.22"
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| effort="100"
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| velocity="3" />
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| </joint>
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| <link
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| name="link6">
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| <inertial>
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| <origin
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| xyz="0.00103120214523473 0.0121761387587524 0.0315480874960164"
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| rpy="0 0 0" />
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| <mass
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| value="0.195187143240719" />
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| <inertia
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| ixx="6.43790256535539E-05"
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| ixy="-1.2366166157046E-06"
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| ixz="1.97664606328472E-07"
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| iyy="0.000126146396374301"
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| iyz="2.41157078516408E-06"
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| izz="0.000154087076816444" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 1.5708" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link6.dae" />
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link6_1.STL" />
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| </geometry>
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| </link>
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| <joint
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| name="joint6"
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| type="revolute">
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| <origin
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| xyz="0 0.091 0.0014165"
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| rpy="-1.5708 -3.1415926 0" />
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| <parent
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| link="link5" />
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| <child
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| link="link6" />
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| <axis
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| xyz="0 0 1" />
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| <limit
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| lower="-3.14"
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| upper="3.14"
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| effort="100"
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| velocity="3" />
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| </joint>
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| <link
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| name="link7">
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| <inertial>
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| <origin
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| xyz="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201"
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| rpy="0 0 0" />
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| <mass
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| value="0.02648229234527" />
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| ixx="9.99787479924589E-06"
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| ixy="-1.57548495096104E-07"
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| iyz="-1.58939803580081E-06"
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| izz="1.42102717246564E-05" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link7.dae" />
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| </geometry>
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link7.STL" />
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| </geometry>
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| </collision>
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| </link>
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| <joint
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| name="joint7"
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| type="prismatic">
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| <origin
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| xyz="0 0 0.13503"
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| rpy="1.5708 0 3.1415926" />
|
| <parent
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| link="link6" />
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| <child
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| link="link7" />
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| <axis
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| xyz="0 0 -1" />
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| <limit
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| lower="0"
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| upper="0.04"
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| effort="10"
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| velocity="1" />
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| </joint>
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| <link
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| name="link8">
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| <inertial>
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| <origin
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| xyz="0.000277816920932317 0.0467673824063769 -0.00921030054508036"
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| rpy="0 0 0" />
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| <mass
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| value="0.0264822021416248" />
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| <inertia
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| ixx="9.99779119357223E-06"
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| ixy="-1.57542283433504E-07"
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| ixz="2.71367446701359E-08"
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| iyy="6.17952441557932E-06"
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| iyz="1.58939319453383E-06"
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| izz="1.4210192754512E-05" />
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| </inertial>
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| <visual>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
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| filename="package://piper_description/meshes/link8.dae" />
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| </geometry>
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| <material
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| name="">
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| <color
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| rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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| </material>
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| </visual>
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| <collision>
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| <origin
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| xyz="0 0 0"
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| rpy="0 0 0" />
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| <geometry>
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| <mesh
|
| filename="package://piper_description/meshes/link8.STL" />
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| </geometry>
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| </collision>
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| </link>
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| <joint
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| name="joint8"
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| type="prismatic">
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| <origin
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| xyz="0 0 0.13503"
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| rpy="-1.5708 0 3.1415926" />
|
| <parent
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| link="link6" />
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| <child
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| link="link8" />
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| <axis
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| xyz="0 0 1" />
|
| <limit
|
| lower="-0.04"
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| upper="0"
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| effort="10"
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| velocity="1" />
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| </joint>
|
|
|
|
|
| <xacro:macro name="transmission_block" params="tran_name joint_name motor_name">
|
| <transmission name="${tran_name}">
|
| <type>transmission_interface/SimpleTransmission</type>
|
| <joint name="${joint_name}">
|
| <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| </joint>
|
| <actuator name="$motor_name">
|
| <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
| <mechanicalReduction>1</mechanicalReduction>
|
| </actuator>
|
| </transmission>
|
| </xacro:macro>
|
|
|
| <xacro:transmission_block tran_name="tran1" joint_name="joint1" motor_name="motor1"/>
|
| <xacro:transmission_block tran_name="tran2" joint_name="joint2" motor_name="motor2"/>
|
| <xacro:transmission_block tran_name="tran3" joint_name="joint3" motor_name="motor3"/>
|
| <xacro:transmission_block tran_name="tran4" joint_name="joint4" motor_name="motor4"/>
|
| <xacro:transmission_block tran_name="tran5" joint_name="joint5" motor_name="motor5"/>
|
| <xacro:transmission_block tran_name="tran6" joint_name="joint6" motor_name="motor6"/>
|
| <xacro:transmission_block tran_name="tran7" joint_name="joint7" motor_name="motor7"/>
|
| <xacro:transmission_block tran_name="tran8" joint_name="joint8" motor_name="motor8"/>
|
|
|
| <gazebo>
|
| <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
| <robotNamespace>/piper_description</robotNamespace>
|
| <legacyModeNS>true</legacyModeNS>
|
| </plugin>
|
| </gazebo>
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| </robot> |
