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New URDF With joint velocity from the data sheet. #205

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1c2fed6
update urdf
vip-dummy Aug 8, 2019
bf2a235
Merge remote-tracking branch 'upstream/master'
vip-dummy Aug 28, 2019
675897b
Merge branch 'master' into master
SalvoVirga Sep 16, 2019
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336 changes: 336 additions & 0 deletions iiwa_description/urdf/kuka_iiwa7.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<!-- Import Transmissions -->
<xacro:include filename="$(find iiwa_description)/urdf/iiwa.transmission.xacro" />
<!-- Include Utilities -->
<xacro:include filename="$(find iiwa_description)/urdf/utilities.xacro" />

<!-- some constants -->
<xacro:property name="safety_controller_k_pos" value="100" />
<xacro:property name="safety_controller_k_vel" value="2" />
<xacro:property name="joint_damping" value="0.5" />
<xacro:property name="max_effort" value="300"/>
<xacro:property name="max_velocity" value="10"/>

<xacro:macro name="iiwa7" params="parent hardware_interface robot_name *origin">

<!--joint between {parent} and link_0-->
<joint name="${parent}_${robot_name}_joint" type="fixed">
<xacro:insert_block name="origin"/>
<parent link="${parent}"/>
<child link="${robot_name}_link_0"/>
</joint>

<link name="${robot_name}_link_0">
<inertial>
<origin xyz="-0.1 0 0.07" rpy="0 0 0"/>
<mass value="5"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_0.stl"/>
</geometry>
<material name="Grey"/>
</collision>

<self_collision_checking>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<capsule radius="0.15" length="0.25"/>
</geometry>
</self_collision_checking>

</link>

<!-- joint between link_0 and link_1 -->
<joint name="${robot_name}_joint_1" type="revolute">
<parent link="${robot_name}_link_0"/>
<child link="${robot_name}_link_1"/>
<origin xyz="0 0 0.15" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
effort="${max_effort}" velocity="${98 * PI / 180}" />
<safety_controller soft_lower_limit="${-168 * PI / 180}"
soft_upper_limit="${168 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_1">
<inertial>
<origin xyz="0 -0.03 0.12" rpy="0 0 0"/>
<mass value="3.4525"/>
<inertia ixx="0.02183" ixy="0" ixz="0" iyy="0.007703" iyz="-0.003887" izz="0.02083" />
</inertial>
<visual>
<origin xyz="0 0 0.0075" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_1.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.0075" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_1.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

<joint name="${robot_name}_joint_2" type="revolute">
<parent link="${robot_name}_link_1"/>
<child link="${robot_name}_link_2"/>
<origin xyz="0 0 0.19" rpy="${PI / 2} 0 ${PI}"/>
<axis xyz="0 0 1"/>
<limit lower="${-120 * PI / 180}" upper="${120 * PI / 180}"
effort="${max_effort}" velocity="${98 * PI / 180}" />
<safety_controller soft_lower_limit="${-118 * PI / 180}"
soft_upper_limit="${118 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_2">
<inertial>
<origin xyz="0.0003 0.059 0.042" rpy="0 0 0"/>
<mass value="3.4821"/>
<inertia ixx="0.02076" ixy="0" ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_2.stl"/>
</geometry>
<material name="Orange"/>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_2.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

<joint name="${robot_name}_joint_3" type="revolute">
<parent link="${robot_name}_link_2"/>
<child link="${robot_name}_link_3"/>
<origin xyz="0 0.21 0" rpy="${PI / 2} 0 ${PI}"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
effort="${max_effort}" velocity="${100 * PI / 180}" />
<safety_controller soft_lower_limit="${-168 * PI / 180}"
soft_upper_limit="${168 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_3">
<inertial>
<origin xyz="0 0.03 0.13" rpy="0 0 0"/>
<mass value="4.05623"/>
<inertia ixx="0.03204" ixy="0" ixz="0" iyy="0.00972" iyz="0.006227" izz="0.03042" />
</inertial>

<visual>
<origin xyz="0 0 -0.026" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>

<collision>
<origin xyz="0 0 -0.026" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_3.stl"/>
</geometry>
<material name="Orange"/>
</collision>

</link>

<joint name="${robot_name}_joint_4" type="revolute">
<parent link="${robot_name}_link_3"/>
<child link="${robot_name}_link_4"/>
<origin xyz="0 0 0.19" rpy="${PI / 2} 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-120 * PI / 180}" upper="${120 * PI / 180}"
effort="${max_effort}" velocity="${130 * PI / 180}" />
<safety_controller soft_lower_limit="${-118 * PI / 180}"
soft_upper_limit="${118 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_4">
<inertial>
<origin xyz="0 0.067 0.034" rpy="0 0 0"/>
<mass value="3.4822"/>
<inertia ixx="0.02178" ixy="0" ixz="0" iyy="0.02075" iyz="-0.003625" izz="0.007785" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_4.stl"/>
</geometry>
<material name="Orange"/>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_4.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

<joint name="${robot_name}_joint_5" type="revolute">
<parent link="${robot_name}_link_4"/>
<child link="${robot_name}_link_5"/>
<origin xyz="0 0.21 0" rpy="${-PI / 2} ${PI} 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * PI / 180}" upper="${170 * PI / 180}"
effort="${max_effort}" velocity="${140 * PI / 180}" />
<safety_controller soft_lower_limit="${-168 * PI / 180}"
soft_upper_limit="${168 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_5">
<inertial>
<origin xyz="0.0001 0.021 0.076" rpy="0 0 0"/>
<mass value="2.1633"/>
<inertia ixx="0.01287" ixy="0" ixz="0" iyy="0.005708" iyz="-0.003946" izz="0.01112" />
</inertial>

<visual>
<origin xyz="0 0 -0.026" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_5.stl"/>
</geometry>
<material name="Orange"/>
</visual>

<collision>
<origin xyz="0 0 -0.026" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_5.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

<joint name="${robot_name}_joint_6" type="revolute">
<parent link="${robot_name}_link_5"/>
<child link="${robot_name}_link_6"/>
<origin xyz="0 0.06070 0.19" rpy="${PI / 2} 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-120 * PI / 180}" upper="${120 * PI / 180}"
effort="${max_effort}" velocity="${180 * PI / 180}" />
<safety_controller soft_lower_limit="${-118 * PI / 180}"
soft_upper_limit="${118 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_6">
<inertial>
<origin xyz="0 0.0006 0.0004" rpy="0 0 0"/>
<mass value="2.3466"/>
<inertia ixx="0.006509" ixy="0" ixz="0" iyy="0.006259" iyz="0.00031891" izz="0.004527" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_6.stl"/>
</geometry>
<material name="Orange"/>
</collision>
</link>

<joint name="${robot_name}_joint_7" type="revolute">
<parent link="${robot_name}_link_6"/>
<child link="${robot_name}_link_7"/>
<origin xyz="0 0.081 0.06070" rpy="${- PI / 2} ${PI} 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-175 * PI / 180}" upper="${175 * PI / 180}"
effort="${max_effort}" velocity="${180 * PI / 180}" />
<safety_controller soft_lower_limit="${-173 * PI / 180}"
soft_upper_limit="${173 * PI / 180}"
k_position="${safety_controller_k_pos}"
k_velocity="${safety_controller_k_vel}"/>
<dynamics damping="${joint_damping}"/>
</joint>

<link name="${robot_name}_link_7">
<inertial>
<origin xyz="0 0 0.02" rpy="0 0 0"/>
<mass value="3.129"/>
<inertia ixx="0.01464" ixy="0.0005912" ixz="0" iyy="0.01465" iyz="0" izz="0.002872" />
</inertial>

<visual>
<origin xyz="0 0 -0.0005" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/visual/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>

<collision>
<origin xyz="0 0 -0.0005" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iiwa_description/meshes/iiwa7/collision/link_7.stl"/>
</geometry>
<material name="Grey"/>
</collision>
</link>

<joint name="${robot_name}_joint_ee" type="fixed">
<parent link="${robot_name}_link_7"/>
<child link="${robot_name}_link_ee"/>
<origin xyz="0 0 0.045" rpy="0 0 0"/>
</joint>

<link name="${robot_name}_link_ee">
</link>

<!--Extensions -->
<xacro:iiwa_transmission hardware_interface="${hardware_interface}"/>

</xacro:macro>

</robot>