openarm_ros2/openarm_description/urdf/openarm.urdf.xacro

<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:property name="side" value="right"/>
    <xacro:property name="prefix" value=""/>
    <material name="gray">
        <color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
    </material>

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

        <link name="${prefix}link1">
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/link1.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
                <geometry>
                    <box size="0.11 0.073 0.0592"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.5769283920617254"/>
                <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
                <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
            </inertial>
        </link>
        <link name="${prefix}link2">
            <visual>
                <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_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_bimanual_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_bimanual_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="${prefix}link5">
            <visual>
                <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/link5.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
                <geometry>
                    <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.4086748254352304"/>
                <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
                <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
            </inertial>
        </link>
        <link name="${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)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/${'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)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/${'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="${prefix}link8">
            <visual>
                <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/link8.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
                <geometry>
                    <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.31261452743802165"/>
                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
                <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
            </inertial>
        </link>
        <link name="${prefix}link_left_jaw">
            <visual>
                <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_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_bimanual_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="${prefix}link_right_jaw">
            <visual>
                <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
                </geometry>
                <material name="gray"/>
            </visual>
            <collision>
                <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
                <geometry>
                    <mesh filename="package://openarm_bimanual_description/meshes/right_jaw.stl"/>
                </geometry>
            </collision>
            <inertial>
                <mass value="0.042981665301134515"/>
                <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
                <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
            </inertial>
        </link>
        <joint name="${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 ${reflect*1}"/>
            <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev2" type="revolute">
            <parent link="${prefix}link2"/>
            <child link="${prefix}link3"/>
            <origin rpy="-1.5707963267948968 0 0" xyz="0.0 -0.02975 0.04475"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="0.0" upper="${pi}" velocity="0.0"/>
        </joint>
        <joint name="${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 ${reflect*1}"/>
            <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
        </joint>
        <joint name="${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="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev5" type="revolute">
            <parent link="${prefix}link5"/>
            <child link="${prefix}link6"/>
            <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
        </joint>
        <joint name="${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 1"/>
            <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
        </joint>
        <joint name="${prefix}rev7" type="revolute">
            <parent link="${prefix}link7"/>
            <child link="${prefix}link8"/>
            <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
        </joint>
        <joint name="${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="0.0" upper="0.0451" velocity="0.0"/>
        </joint>
        <joint name="${prefix}right_pris2" type="prismatic">
            <parent link="${prefix}link8"/>
            <child link="${prefix}link_right_jaw"/>
            <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
            <axis xyz="0 0 1"/>
            <limit effort="0.0" lower="0.0" upper="0.0451" velocity="0.0"/>
            <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
        </joint>
    </xacro:macro>
</robot>