ar4/ar4_description/urdf/ar4.urdf.xacro at 82bf720b1a73db3d18e9c1c6acd09dbd5604e003 · Ekumen-OS/ar4 · GitHub

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<?xml version="1.0"?>
<robot name="ar4" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:property name="package_name" value="ar4_description"/>

  <xacro:include filename="$(find ${package_name})/urdf/include/common_macros.urdf.xacro" />
  <xacro:property name="robot_properties_yaml_dir" value="$(find ${package_name})/config/link_properties.yaml" />
  <xacro:property name="robot_properties" value="${xacro.load_yaml(robot_properties_yaml_dir)}"/>
  <xacro:property name="robot_parameters_yaml_dir" value="$(find ${package_name})/config/ar4.yaml" />
  <xacro:property name="robot_parameters" value="${xacro.load_yaml(robot_parameters_yaml_dir)}"/>

  <xacro:link link_name="base_link"
              inertial="${robot_properties['base_link']['inertial']}"
              visual="${robot_properties['base_link']['visual']}"
              collision="${robot_properties['base_link']['collision']}"
              meshes="${['base_link', 'base_link_bottom', 'base_link_motor']}"
              materials="${['grey', 'blue', 'black']}">
              <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <xacro:link link_name="link_1"
              inertial="${robot_properties['link_1']['inertial']}"
              visual="${robot_properties['link_1']['visual']}"
              collision="${robot_properties['link_1']['collision']}"
              meshes="${['link_1', 'link_1_motor']}"
              materials="${['grey', 'black']}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <limit lower="${-170.0 / 180.0 * pi}" upper="${170.0 / 180.0 * pi}" effort="100" velocity="0.5"/>
  </joint>

  <xacro:link link_name="link_2"
              inertial="${robot_properties['link_2']['inertial']}"
              visual="${robot_properties['link_2']['visual']}"
              collision="${robot_properties['link_2']['collision']}"
              meshes="${['link_2', 'link_2_motor', 'link_2_cover', 'link_2_cover_logo']}"
              materials="${['grey', 'black', 'white', 'blue']}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <joint name="joint_2" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0.0642 0 0.16977"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 0 1"/>
    <limit lower="${-42.0 / 180.0 * pi}" upper="${90.0 / 180.0 * pi}" effort="100" velocity="0.5"/>
  </joint>

  <xacro:link link_name="link_3"
              inertial="${robot_properties['link_3']['inertial']}"
              visual="${robot_properties['link_3']['visual']}"
              collision="${robot_properties['link_3']['collision']}"
              meshes="${['link_3', 'link_3_motor', 'link_3_misc']}"
              materials="${['grey', 'black', 'black']}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 -1.5708" xyz="0 -0.305 0"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 0 1"/>
    <limit lower="${-89.0 / 180.0 * pi}" upper="${52.0 / 180.0 * pi}" effort="100" velocity="0.5"/>
  </joint>

  <xacro:link link_name="link_4"
              inertial="${robot_properties['link_4']['inertial']}"
              visual="${robot_properties['link_4']['visual']}"
              collision="${robot_properties['link_4']['collision']}"
              meshes="${['link_4', 'link_4_motor']}"
              materials="${['grey', 'black']}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <joint name="joint_4" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0 0 0.0"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="0 0 1"/>
    <limit lower="${-1 * robot_parameters['j4_limit']}" upper="${robot_parameters['j4_limit']}" effort="100" velocity="0.5"/>
  </joint>

  <xacro:link link_name="link_5"
              inertial="${robot_properties['link_5']['inertial']}"
              visual="${robot_properties['link_5']['visual']}"
              collision="${robot_properties['link_5']['collision']}"
              meshes="${['link_5', 'link_5_motor']}"
              materials="${['grey', 'black']}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <joint name="joint_5" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 0 0.22263"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 0 1"/>
    <limit lower="${-105.0 / 180.0 * pi}" upper="${105.0 / 180.0 * pi}" effort="100" velocity="1.0"/>
  </joint>

  <xacro:link link_name="link_6"
              inertial="${robot_properties['link_6']['inertial']}"
              visual="${robot_properties['link_6']['visual']}"
              collision="${robot_properties['link_6']['collision']}"
              meshes="${['link_6']}"
              materials="${['grey']}">
    <origin xyz="0 0 0" rpy="0 0 0" />
  </xacro:link>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 -1.5708 0" xyz="-${robot_parameters['l6_length']} 0 0"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="0 0 1"/>
    <limit lower="${-1.0 * robot_parameters['j6_limit']}" upper="${robot_parameters['j6_limit']}" effort="100" velocity="1.0"/>
  </joint>
</robot>