refactor: separate robot and control xacros (#22)
# Summary The previous URDF directory structure used has a chained call from **openarm.urdf.xacro** -> **openarm.xacro** -> **openarm.ros2_control.xacro**. **openarm.xacro** takes both robot hardware description and control/communication configuration arguments but the file content is only about robot description. # Changes Made - Renamed **openarm.xacro** to **openarm.robot.xacro**. This file now contains only the robot's hardware description, including links, joints, visuals, and inertial properties. - **openarm.control.xacro** handles all ROS 2 control configurations, including hardware interfaces, joint interfaces, and CAN device setup. - Updated openarm.urdf.xacro (entry point)Calls both **openarm.robot.xacro** and **openarm.control.xacro**. This change should separates responsibilities and arguments for each subsystem. Have tested with bringup scripts for both single-arm and bimanual configurations.
This commit is contained in:
Yue Yin
GitHub
parent
2206a7bf95
commit
5bbe23cf28
@ -1,8 +1,23 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from openarm_bimanual.urdf.xacro | -->
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<!-- | This document was autogenerated by xacro from openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot name="openarm_bimanual">
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<material name="gray">
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<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
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@ -156,81 +171,6 @@
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<!-- side right, left -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- zero_pos up, arm -->
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<ros2_control name="right_OpenArmHW" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<!-- <plugin>mock_components/GenericSystem</plugin> -->
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">right_</param>
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<param name="can_device">can0</param>
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</hardware>
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<joint name="right_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<!-- <joint name="${prefix}right_pris2">
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_pris2']}</param>
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</state_interface>
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</joint> -->
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</ros2_control>
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<link name="right_dummy_link"/>
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<joint name="right_dummy_joint" type="fixed">
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<parent link="right_dummy_link"/>
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@ -514,81 +454,6 @@
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<!-- side right, left -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- zero_pos up, arm -->
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<ros2_control name="left_OpenArmHW" type="system">
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<hardware>
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<!-- By default, set up controllers for simulation. This won't work on real hardware -->
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<!-- <plugin>mock_components/GenericSystem</plugin> -->
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">left_</param>
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<param name="can_device">can1</param>
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</hardware>
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<joint name="left_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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<!-- <joint name="${prefix}right_pris2">
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<state_interface name="position">
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<param name="initial_value">${initial_positions['right_pris2']}</param>
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</state_interface>
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</joint> -->
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</ros2_control>
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<link name="left_dummy_link"/>
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<joint name="left_dummy_joint" type="fixed">
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<parent link="left_dummy_link"/>
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@ -869,4 +734,140 @@
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<child link="left_dummy_link"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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</joint>
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<ros2_control name="right_RightOpenArmHW" type="system">
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<hardware>
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">right_</param>
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<param name="can_device">can0</param>
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</hardware>
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<joint name="right_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="right_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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<ros2_control name="left_LeftOpenArmHW" type="system">
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<hardware>
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<plugin>openarm_hardware/OpenArmHW</plugin>
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<param name="prefix">left_</param>
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<param name="can_device">can1</param>
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</hardware>
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<joint name="left_rev1">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev2">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev3">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev4">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev5">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev6">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_rev7">
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<command_interface name="position"/>
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<command_interface name="velocity"/>
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<command_interface name="effort"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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<state_interface name="effort"/>
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</joint>
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<joint name="left_left_pris1">
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<command_interface name="position"/>
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<state_interface name="position"/>
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<state_interface name="velocity"/>
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</joint>
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</ros2_control>
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</robot>
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@ -16,7 +16,16 @@
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm_bimanual">
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<xacro:include filename="$(find openarm_description)/urdf/openarm.xacro"/>
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<!-- Robot description parameters -->
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<xacro:arg name="prefix" default="" />
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<!-- Control-related parameters -->
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<xacro:arg name="right_can_device" default="can0" />
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<xacro:arg name="left_can_device" default="can1" />
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<xacro:arg name="use_mock_hardware" default="false" />
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<xacro:arg name="mock_sensor_commands" default="false" />
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<xacro:include filename="$(find openarm_description)/urdf/openarm.robot.xacro"/>
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<xacro:include filename="$(find openarm_bimanual_description)/urdf/openarm_pedestal.urdf"/>
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<xacro:include filename="openarm_bimanual_sensors.xacro"/>
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@ -27,18 +36,26 @@
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
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</joint>
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<xacro:openarm prefix="right_" side="right" zero_pos="arm" can_device="can0"/>
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<xacro:openarm_robot prefix="right_" side="right" zero_pos="arm"/>
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<joint name="right_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="right_dummy_link"/>
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<origin rpy="${3.0186531925068127 + pi} -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
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</joint>
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<xacro:openarm prefix="left_" side="left" zero_pos="arm" can_device="can1"/>
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<xacro:openarm_robot prefix="left_" side="left" zero_pos="arm"/>
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<joint name="left_fixed1" type="fixed">
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<parent link="pedestal_link"/>
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<child link="left_dummy_link"/>
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<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
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</joint>
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<!-- Include control configuration for both arms -->
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<xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
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<xacro:arg name="right_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
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<xacro:arg name="left_initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
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<xacro:openarm_ros2_control name="RightOpenArmHW" prefix="right_" initial_positions_file="$(arg right_initial_positions_file)" can_device="$(arg right_can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
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<xacro:openarm_ros2_control name="LeftOpenArmHW" prefix="left_" initial_positions_file="$(arg left_initial_positions_file)" can_device="$(arg left_can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
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</robot>
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@ -1,317 +1,312 @@
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<?xml version="1.0" ?>
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<!--
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Copyright 2025 Reazon Holdings, Inc.
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Licensed under the Apache License, Version 2.0 (the "License");
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||||
you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="gray">
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<color rgba="${105/255} ${105/255} ${105/255} 1.0"/>
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</material>
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<material name="dark_gray">
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<color rgba="${50/255} ${50/255} ${50/255} 1.0"/>
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</material>
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<xacro:macro name="openarm" params="side:='right' prefix:='' zero_pos='up' can_device='can0' use_mock_hardware:=false mock_sensor_commands:=false">
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<!-- side right, left -->
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<!-- recommended prefixes left_, right_, etc. -->
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<!-- zero_pos up, arm -->
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<xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
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<xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
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<xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro" />
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<xacro:arg name="initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
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<xacro:openarm_ros2_control name="OpenArmHW" prefix="${prefix}" initial_positions_file="$(arg initial_positions_file)" can_device="${can_device}" use_mock_hardware="${use_mock_hardware}" mock_sensor_commands="${mock_sensor_commands}"/>
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<link name="${prefix}dummy_link"/>
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||||
<joint name="${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>
|
||||
<?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} ${50/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<xacro:macro name="openarm_robot" params="side:='right' prefix:='' zero_pos='up'">
|
||||
<!-- side right, left -->
|
||||
<!-- recommended prefixes left_, right_, etc. -->
|
||||
<!-- zero_pos up, arm -->
|
||||
|
||||
<xacro:property name="reflect" value="${1 if side=='right' else -1}"/>
|
||||
<xacro:property name="rotate" value="${0 if side=='right' else pi}"/>
|
||||
|
||||
<link name="${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>
|
||||
@ -92,12 +92,6 @@
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
|
||||
<!-- <joint name="${prefix}right_pris2">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['right_pris2']}</param>
|
||||
</state_interface>
|
||||
</joint> -->
|
||||
|
||||
</ros2_control>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
|
||||
@ -1,8 +1,23 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from openarm.urdf.xacro | -->
|
||||
<!-- | This document was autogenerated by xacro from openarm_description/urdf/openarm.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!--
|
||||
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 name="openarm">
|
||||
<material name="gray">
|
||||
<color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
|
||||
@ -13,81 +28,6 @@
|
||||
<!-- side right, left -->
|
||||
<!-- recommended prefixes left_, right_, etc. -->
|
||||
<!-- zero_pos up, arm -->
|
||||
<ros2_control name="OpenArmHW" type="system">
|
||||
<hardware>
|
||||
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
|
||||
<!-- <plugin>mock_components/GenericSystem</plugin> -->
|
||||
<plugin>openarm_hardware/OpenArmHW</plugin>
|
||||
<param name="prefix"></param>
|
||||
<param name="can_device">can0</param>
|
||||
</hardware>
|
||||
<joint name="rev1">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev2">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev3">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev4">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev5">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev6">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev7">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="left_pris1">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
<!-- <joint name="${prefix}right_pris2">
|
||||
<state_interface name="position">
|
||||
<param name="initial_value">${initial_positions['right_pris2']}</param>
|
||||
</state_interface>
|
||||
</joint> -->
|
||||
</ros2_control>
|
||||
<link name="dummy_link"/>
|
||||
<joint name="dummy_joint" type="fixed">
|
||||
<parent link="dummy_link"/>
|
||||
@ -363,4 +303,71 @@
|
||||
<child link="gripper_center"/>
|
||||
<origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
|
||||
</joint>
|
||||
<ros2_control name="OpenArmHW" type="system">
|
||||
<hardware>
|
||||
<plugin>mock_components/GenericSystem</plugin>
|
||||
<param name="mock_sensor_commands">False</param>
|
||||
</hardware>
|
||||
<joint name="rev1">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev2">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev3">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev4">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev5">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev6">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="rev7">
|
||||
<command_interface name="position"/>
|
||||
<command_interface name="velocity"/>
|
||||
<command_interface name="effort"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
<state_interface name="effort"/>
|
||||
</joint>
|
||||
<joint name="left_pris1">
|
||||
<command_interface name="position"/>
|
||||
<state_interface name="position"/>
|
||||
<state_interface name="velocity"/>
|
||||
</joint>
|
||||
</ros2_control>
|
||||
</robot>
|
||||
|
||||
@ -15,11 +15,23 @@
|
||||
limitations under the License.
|
||||
-->
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="openarm">
|
||||
<!-- Robot description parameters -->
|
||||
<xacro:arg name="prefix" default="" />
|
||||
<xacro:arg name="side" default="right" />
|
||||
<xacro:arg name="zero_pos" default="up" />
|
||||
|
||||
<!-- Control-related parameters -->
|
||||
<xacro:arg name="can_device" default="can0" />
|
||||
<xacro:arg name="use_mock_hardware" default="false" />
|
||||
<xacro:arg name="mock_sensor_commands" default="false" />
|
||||
|
||||
<!-- Include robot description (without control parameters) -->
|
||||
<xacro:include filename="openarm.robot.xacro"/>
|
||||
<xacro:openarm_robot prefix="$(arg prefix)" side="$(arg side)" zero_pos="$(arg zero_pos)"/>
|
||||
|
||||
<!-- Include control configuration (with only control parameters) -->
|
||||
<xacro:include filename="$(find openarm_description)/urdf/openarm.ros2_control.xacro"/>
|
||||
<xacro:arg name="initial_positions_file" default="$(find openarm_description)/config/initial_positions.yaml" />
|
||||
<xacro:openarm_ros2_control name="OpenArmHW" prefix="$(arg prefix)" initial_positions_file="$(arg initial_positions_file)" can_device="$(arg can_device)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
|
||||
|
||||
<xacro:include filename="openarm.xacro"/>
|
||||
<xacro:openarm prefix="$(arg prefix)" use_mock_hardware="$(arg use_mock_hardware)" mock_sensor_commands="$(arg mock_sensor_commands)"/>
|
||||
<xacro:include filename="$(find openarm_description)/urdf/openarm_sensors.xacro"/>
|
||||
</robot>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user