openarm_ros2/openarm_description/urdf/openarm.xacro

<?xml version="1.0" ?>
<!--
　Copyright 2025 Reazon Holdings, Inc.

　Licensed under the Apache License, Version 2.0 (the "License");
　you may not use this file except in compliance with the License.
　You may obtain a copy of the License at

　    http://www.apache.org/licenses/LICENSE-2.0

　Unless required by applicable law or agreed to in writing, software
　distributed under the License is distributed on an "AS IS" BASIS,
　WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
　See the License for the specific language governing permissions and
　limitations under the License.
-->
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <material name="gray">
        <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
    </material>
    <material name="dark_gray">
        <color rgba="${50/255} ${50/255} ${50/255} 1.0"/>
    </material>

    <xacro:macro name="openarm" params="side:='right' prefix:='' zero_pos='up' can_device='can0' use_mock_hardware:=false mock_sensor_commands:=false">
        <!-- side right, left -->
        <!-- recommended prefixes left_, right_, etc. -->
        <!-- zero_pos up, arm -->


        <xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
        <xacro:property name="rotate" value="${0 if side=='right' else pi}"/>

        <xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro" />
        <xacro:arg name="initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
        <xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)" can_device="${can_device}" use_mock_hardware="${use_mock_hardware}" mock_sensor_commands="${mock_sensor_commands}"/>

        <link name="${prefix}dummy_link"/>

        <joint name="${prefix}dummy_joint" type="fixed">
            <parent link="${prefix}dummy_link"/>
            <child link="${prefix}link1"/>
        </joint>

        <link name="${prefix}link1">
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/link1.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
                <geometry>
                    <box size="0.11 0.073 0.0592"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.5769283920617254"/>
                <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
                <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
            </inertial>
        </link>
        <link name="${prefix}link2">
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/link2.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
                <geometry>
                    <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.16257504134917358"/>
                <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
                <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
            </inertial>
        </link>
        <link name="${prefix}link3">
            <visual>
                <origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/link3.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="${pi * 0.5} 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
                <geometry>
                    <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.4201676469910031"/>
                <origin rpy="${pi * 0.5} 0 0" xyz="-0.00688022 0.0 0.0282752"/>
                <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
            </inertial>
        </link>
        <link name="${prefix}link4">
            <visual>
                <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/link4.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
                <geometry>
                    <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.819475539373447"/>
                <origin rpy="${pi} -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
                <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
            </inertial>
        </link>
        <link name="${prefix}link5">
            <visual>
                <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/link5.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
                <geometry>
                    <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.4086748254352304"/>
                <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
                <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
            </inertial>
        </link>
        <link name="${prefix}link6">
            <visual>
                <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/${'link6_rightarm.stl' if side=='right' else 'link6_leftarm.stl'}"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
                <geometry>
                    <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.3448471958049249"/>
                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
                <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
            </inertial>
        </link>
        <link name="${prefix}link7">
            <visual>
                <origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/${'link7_rightarm.stl' if side=='right' else 'link7_leftarm.stl'}"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
                <geometry>
                    <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.2782138078738053"/>
                <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
                <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
            </inertial>
        </link>
        <link name="${prefix}link8">
            <visual>
                <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/link8.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
                <geometry>
                    <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.31261452743802165"/>
                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
                <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
            </inertial>
        </link>
        <link name="${prefix}gripper_center"/>
        <link name="${prefix}link_left_jaw">
            <visual>
                <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.04297897856394934"/>
                <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
                <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
            </inertial>
        </link>
        <link name="${prefix}link_right_jaw">
            <visual>
                <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
                <geometry>
                    <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.042981665301134515"/>
                <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
                <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
            </inertial>
        </link>
        <joint name="${prefix}rev1" type="revolute">
            <parent link="${prefix}link1"/>
            <child link="${prefix}link2"/>
            <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="${-pi/4.0 if side=='right' and zero_pos=='arm' else -2.0943951023931953}" upper="${pi/4.0 if side=='left' and zero_pos=='arm' else 2.0943951023931953}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev2" type="revolute">
            <parent link="${prefix}link2"/>
            <child link="${prefix}link3"/>
            <origin rpy="-1.5707963267948968 ${pi/2 if zero_pos=='up' else 0.0} 0.0" xyz="0.0 -0.02975 0.04475"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="${-pi/2.0 if zero_pos=='up' else -pi/18.0}" upper="${pi/2 if zero_pos=='up' else pi * 17.0 / 18.0}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev3" type="revolute">
            <parent link="${prefix}link3"/>
            <child link="${prefix}link4"/>
            <origin rpy="-1.5707963267949054 ${rotate} -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
            <axis xyz="0 0 -1"/>
            <limit effort="0.0" lower="${-pi * 2.0 / 3.0}" upper="${pi * 2.0 / 3.0}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev4" type="revolute">
            <parent link="${prefix}link4"/>
            <child link="${prefix}link5"/>
            <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="0" upper="${pi * 5.0 / 6.0}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev5" type="revolute">
            <parent link="${prefix}link5"/>
            <child link="${prefix}link6"/>
            <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
            <axis xyz="0 0 -1"/>
            <limit effort="0.0" lower="${-pi * 2.0 / 3.0}" upper="${pi * 2.0 / 3.0}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev6" type="revolute">
            <parent link="${prefix}link6"/>
            <child link="${prefix}link7"/>
            <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
            <axis xyz="0 0 ${reflect}"/>
            <limit effort="0.0" lower="${-pi / 2.0}" upper="${pi / 2.0}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev7" type="revolute">
            <parent link="${prefix}link7"/>
            <child link="${prefix}link8"/>
            <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
            <axis xyz="0 0 -1"/>
            <limit effort="0.0" lower="${-pi * 11.0 / 36.0}" upper="${pi * 11.0 / 36.0}" velocity="0.0"/>
        </joint>
        <joint name="${prefix}left_pris1" type="prismatic">
            <parent link="${prefix}link8"/>
            <child link="${prefix}link_left_jaw"/>
            <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
            <axis xyz="0 0 -1"/>
            <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
        </joint>
        <joint name="${prefix}right_pris2" type="prismatic">
            <parent link="${prefix}link8"/>
            <child link="${prefix}link_right_jaw"/>
            <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
            <axis xyz="0 0 -1"/>
            <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
            <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
        </joint>
        <joint name="${prefix}virtual_gripper_center" type="fixed">
            <parent link="${prefix}link8"/>
            <child link="${prefix}gripper_center"/>
            <origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
        </joint>
    </xacro:macro>
</robot>