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arm.urdf.xacro
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<?xml version="1.0"?>
<!--
Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
<xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
<xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
<xacro:property name="arm_damping" value="1.0" />
<xacro:property name="arm_1_max_vel" value="2.7" />
<xacro:property name="arm_2_max_vel" value="3.66" />
<xacro:property name="arm_3_max_vel" value="4.58" />
<xacro:property name="arm_4_max_vel" value="4.58" />
<xacro:property name="arm_1_max_effort" value="100.0" />
<xacro:property name="arm_2_max_effort" value="100.0" />
<xacro:property name="arm_3_max_effort" value="70.0" />
<xacro:property name="arm_4_max_effort" value="70.0" />
<xacro:property name="arm_eps" value="0.02" />
<xacro:macro name="talos_arm" params="name parent side reflect">
<xacro:unless value="$(arg test)">
<xacro:include filename="$(find talos_description_calibration)/urdf/calibration/arm_${side}.xacro" />
</xacro:unless>
<xacro:if value="$(arg test)">
<xacro:include filename="$(find talos_description)/test/calibration/arm_${side}.xacro" />
</xacro:if>
<!--************************-->
<!-- SHOULDER -->
<!--************************-->
<link name="${name}_${side}_1_link">
<xacro:call macro="${name}_${side}_1_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_1_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_1_link" />
<origin xyz="${0.00000 + arm_1_joint_x_offset} ${0.15750*reflect + arm_1_joint_y_offset} ${0.23200 + arm_1_joint_z_offset}"
rpy="${0.0 * deg_to_rad + arm_1_joint_roll_offset} ${0.0 * deg_to_rad + arm_1_joint_pitch_offset} ${0.0 * deg_to_rad + arm_1_joint_yaw_offset}"/>
<axis xyz="0 0 1" />
<xacro:arm_1_joint_limits reflect="${reflect}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
</joint>
<link name="${name}_${side}_2_link">
<xacro:call macro="${name}_${side}_2_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_2_joint" type="revolute">
<parent link="${name}_${side}_1_link" />
<child link="${name}_${side}_2_link" />
<origin xyz="${0.00493 + arm_2_joint_x_offset} ${0.13650*reflect + arm_2_joint_y_offset} ${0.04673 + arm_2_joint_z_offset}"
rpy="${0.00000 * deg_to_rad + arm_2_joint_roll_offset} ${0.00000 * deg_to_rad + arm_2_joint_pitch_offset} ${0.00000 * deg_to_rad + arm_2_joint_yaw_offset}"/>
<axis xyz="1 0 0" />
<limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000*reflect + 82.0000)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
</joint>
<link name="${name}_${side}_3_link">
<xacro:call macro="${name}_${side}_3_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_3_joint" type="revolute">
<parent link="${name}_${side}_2_link" />
<child link="${name}_${side}_3_link" />
<origin xyz="${0.00000 + arm_3_joint_x_offset} ${0.00000 + arm_3_joint_y_offset} ${0.00000 + arm_3_joint_z_offset}"
rpy="${0.00000 * deg_to_rad + arm_3_joint_roll_offset} ${0.00000 * deg_to_rad + arm_3_joint_pitch_offset} ${0.00000 * deg_to_rad + arm_3_joint_yaw_offset}"/>
<axis xyz="0 0 1" />
<limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
</joint>
<!--************************-->
<!-- ELBOW -->
<!--************************-->
<link name="${name}_${side}_4_link">
<xacro:call macro="${name}_${side}_4_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
<joint name="${name}_${side}_4_joint" type="revolute">
<parent link="${name}_${side}_3_link" />
<child link="${name}_${side}_4_link" />
<origin xyz="${0.02000 + arm_4_joint_x_offset} ${0.00000 + arm_4_joint_y_offset} ${-0.2782 + arm_4_joint_z_offset}"
rpy="${0.00000 * deg_to_rad + arm_4_joint_roll_offset} ${0.00000 * deg_to_rad + arm_4_joint_pitch_offset} ${0.00000 * deg_to_rad + arm_4_joint_yaw_offset}"/>
<axis xyz="0 1 0" />
<limit lower="${-128.0 * deg_to_rad}" upper="${-0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
</joint>
<gazebo reference="${name}_${side}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_2_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_3_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_4_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="${name}_${side}_1_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_${side}_2_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_${side}_3_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<gazebo reference="${name}_${side}_4_joint">
<implicitSpringDamper>1</implicitSpringDamper>
</gazebo>
<!--************************-->
<!-- WRIST -->
<!--************************-->
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
<xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
</robot>