117 lines
4.8 KiB
XML
117 lines
4.8 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
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<xacro:include filename="$(find openarm_description)/urdf/robot/openarm_robot.xacro"/>
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<xacro:arg name="arm_type" default="v10" />
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<xacro:arg name="body_type" default="v10" />
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<xacro:arg name="ee_type" default="openarm_hand" />
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<xacro:arg name="no_prefix" default="false"/>
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<xacro:arg name="hand" default="true" />
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<xacro:if value="$(eval ee_type == 'none')">
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<xacro:property name="hand" value="false"/>
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</xacro:if>
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<xacro:arg name="parent" default="world" />
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<xacro:arg name="xyz" default="0 0 0" />
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<xacro:arg name="rpy" default="0 0 0" />
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<xacro:arg name="ros2_control" default="false" />
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<xacro:arg name="can_interface" default="can0" />
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<xacro:arg name="left_can_interface" default="can1" />
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<xacro:arg name="right_can_interface" default="can0" />
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<xacro:arg name="left_arm_prefix" default="left_" />
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<xacro:arg name="right_arm_prefix" default="right_" />
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<xacro:arg name="use_fake_hardware" default="false" />
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<xacro:arg name="fake_sensor_commands" default="false" />
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<xacro:arg name="bimanual" default="false" />
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<xacro:arg name="right_arm_base_xyz" default="0.0 -0.031 0.698" />
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<xacro:arg name="right_arm_base_rpy" default="1.5708 0 0" />
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<xacro:arg name="left_arm_base_xyz" default="0.0 0.031 0.698" />
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<xacro:arg name="left_arm_base_rpy" default="-1.5708 0 0" />
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<xacro:arg name="can_fd" default="false" />
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<xacro:arg name="gravity_compensation_enabled" default="false" />
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<xacro:arg name="gravity_compensation_use_kdl" default="true" />
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<xacro:arg name="gravity_torque_mode" default="false" />
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<xacro:arg name="gravity_scale" default="1.0" />
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<xacro:arg name="gravity_tau_limit1" default="2.0" />
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<xacro:arg name="gravity_tau_limit2" default="2.0" />
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<xacro:arg name="gravity_tau_limit3" default="2.0" />
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<xacro:arg name="gravity_tau_limit4" default="2.0" />
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<xacro:arg name="gravity_tau_limit5" default="2.0" />
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<xacro:arg name="gravity_tau_limit6" default="2.0" />
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<xacro:arg name="gravity_tau_limit7" default="2.0" />
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<xacro:arg name="kdl_urdf_path" default="/tmp/openarm_bimanual_runtime.urdf" />
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<xacro:arg name="kdl_base_link" default="openarm_body_link0" />
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<xacro:arg name="kdl_tip_link" default="" />
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<xacro:openarm_robot
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arm_type="v10"
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body_type="v10"
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joint_limits="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/joint_limits.yaml')}"
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control_gains="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/control_gains.yaml')}"
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inertials="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/inertials.yaml')}"
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kinematics="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics.yaml')}"
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kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics_link.yaml')}"
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kinematics_offset="${xacro.load_yaml('$(find openarm_description)/config/arm/v10/kinematics_offset.yaml')}"
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body_inertials="${xacro.load_yaml('$(find openarm_description)/config/body/v10/inertials.yaml')}"
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body_kinematics="${xacro.load_yaml('$(find openarm_description)/config/body/v10/kinematics.yaml')}"
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body_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/body/v10/kinematics.yaml')}"
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ee_kinematics_link="${xacro.load_yaml('$(find openarm_description)/config/hand/openarm_hand/kinematics_link.yaml')}"
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hand="$(arg hand)"
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ee_type="$(arg ee_type)"
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ros2_control="$(arg ros2_control)"
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can_interface="$(arg can_interface)"
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left_can_interface="$(arg left_can_interface)"
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right_can_interface="$(arg right_can_interface)"
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left_arm_prefix="$(arg left_arm_prefix)"
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right_arm_prefix="$(arg right_arm_prefix)"
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use_fake_hardware="$(arg use_fake_hardware)"
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fake_sensor_commands="$(arg fake_sensor_commands)"
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no_prefix="$(arg no_prefix)"
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arm_prefix=""
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body_prefix=""
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arm_connected_to="base"
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body_connected_to="world"
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bimanual="$(arg bimanual)"
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right_arm_base_xyz="$(arg right_arm_base_xyz)"
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left_arm_base_xyz="$(arg left_arm_base_xyz)"
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right_arm_base_rpy="$(arg right_arm_base_rpy)"
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left_arm_base_rpy="$(arg left_arm_base_rpy)"
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can_fd="$(arg can_fd)"
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gravity_compensation_enabled="$(arg gravity_compensation_enabled)"
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gravity_compensation_use_kdl="$(arg gravity_compensation_use_kdl)"
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gravity_torque_mode="$(arg gravity_torque_mode)"
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gravity_scale="$(arg gravity_scale)"
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gravity_tau_limit1="$(arg gravity_tau_limit1)"
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gravity_tau_limit2="$(arg gravity_tau_limit2)"
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gravity_tau_limit3="$(arg gravity_tau_limit3)"
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gravity_tau_limit4="$(arg gravity_tau_limit4)"
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gravity_tau_limit5="$(arg gravity_tau_limit5)"
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gravity_tau_limit6="$(arg gravity_tau_limit6)"
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gravity_tau_limit7="$(arg gravity_tau_limit7)"
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kdl_urdf_path="$(arg kdl_urdf_path)"
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kdl_base_link="$(arg kdl_base_link)"
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kdl_tip_link="$(arg kdl_tip_link)"
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/>
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</robot>
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