315 lines
11 KiB
Plaintext
315 lines
11 KiB
Plaintext
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<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
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<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
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<!-- arm_id: Namespace of the panda arm. Serves to differentiate between arms in case of multiple instances. -->
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<xacro:macro name="panda_arm" params="arm_id:='panda' description_pkg:='franka_description' connected_to:='' xyz:='0 0 0' rpy:='0 0 0' safety_distance:=0">
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<xacro:unless value="${not connected_to}">
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<joint name="${arm_id}_joint_${connected_to}" type="fixed">
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<parent link="${connected_to}"/>
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<child link="${arm_id}_link0"/>
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<origin rpy="${rpy}" xyz="${xyz}"/>
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</joint>
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</xacro:unless>
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<link name="${arm_id}_link0">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link0.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="-0.075 0 0.06" rpy="0 ${pi/2} 0"/>
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<geometry>
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<cylinder radius="${0.06+safety_distance}" length="0.03" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.06 0 0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="-0.09 0 0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<link name="${arm_id}_link1">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link1.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 -0.1915" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.06+safety_distance}" length="0.2830" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.333" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.05" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint1" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="0 0 0" xyz="0 0 0.333"/>
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<parent link="${arm_id}_link0"/>
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<child link="${arm_id}_link1"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="${arm_id}_link2">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link2.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.06+safety_distance}" length="0.12" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint2" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
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<origin rpy="${-pi/2} 0 0" xyz="0 0 0"/>
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<parent link="${arm_id}_link1"/>
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<child link="${arm_id}_link2"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
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</joint>
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<link name="${arm_id}_link3">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link3.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 -0.145" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.06+safety_distance}" length="0.15" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.22" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.07" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint3" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="${pi/2} 0 0" xyz="0 -0.316 0"/>
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<parent link="${arm_id}_link2"/>
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<child link="${arm_id}_link3"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
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</joint>
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<link name="${arm_id}_link4">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link4.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.06+safety_distance}" length="0.12" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint4" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
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<origin rpy="${pi/2} 0 0" xyz="0.0825 0 0"/>
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<parent link="${arm_id}_link3"/>
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<child link="${arm_id}_link4"/>
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<axis xyz="0 0 1"/>
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<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
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</joint>
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<link name="${arm_id}_link5">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link5.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 -0.26" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.06+safety_distance}" length="0.1" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.31" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.21" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.06+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.08 -0.13" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.025+safety_distance}" length="0.14" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.08 -0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.025+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0.08 -0.20" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.025+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint5" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="${-pi/2} 0 0" xyz="-0.0825 0.384 0"/>
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<parent link="${arm_id}_link4"/>
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<child link="${arm_id}_link5"/>
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<axis xyz="0 0 1"/>
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<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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</joint>
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<link name="${arm_id}_link6">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link6.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 -0.03" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.05+safety_distance}" length="0.08" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 0.01" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.05+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.07" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.05+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint6" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
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<origin rpy="${pi/2} 0 0" xyz="0 0 0"/>
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<parent link="${arm_id}_link5"/>
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<child link="${arm_id}_link6"/>
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<axis xyz="0 0 1"/>
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<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
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</joint>
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<link name="${arm_id}_link7">
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<visual>
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<geometry>
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<mesh filename="package://${description_pkg}/meshes/visual/link7.dae"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0.01" rpy="0 0 0"/>
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<geometry>
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<cylinder radius="${0.04+safety_distance}" length="0.14" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 0.08" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.04+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0 0 -0.06" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.04+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint7" type="revolute">
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<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
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<origin rpy="${pi/2} 0 0" xyz="0.088 0 0"/>
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<parent link="${arm_id}_link6"/>
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<child link="${arm_id}_link7"/>
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<axis xyz="0 0 1"/>
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<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
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</joint>
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<link name="${arm_id}_link8">
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<collision>
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<origin xyz="0.0424 0.0424 -0.0250" rpy="${pi} ${pi/2} ${pi/2}"/>
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<geometry>
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<cylinder radius="${0.03+safety_distance}" length="0.01" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.0424 0.0424 -0.02" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.03+safety_distance}" />
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</geometry>
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</collision>
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<collision>
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<origin xyz="0.0424 0.0424 -0.03" rpy="0 0 0"/>
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<geometry>
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<sphere radius="${0.03+safety_distance}" />
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</geometry>
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</collision>
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</link>
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<joint name="${arm_id}_joint8" type="fixed">
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<origin rpy="0 0 0" xyz="0 0 0.107"/>
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<parent link="${arm_id}_link7"/>
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<child link="${arm_id}_link8"/>
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</joint>
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</xacro:macro>
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</robot>
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