154 lines
7.4 KiB
XML
154 lines
7.4 KiB
XML
<?xml version='1.0' encoding='utf-8'?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
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<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
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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 robot arm. Serves to differentiate between arms in case of multiple instances. -->
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<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
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<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
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<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
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<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
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<xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
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<!-- Define a property that defaults to 'arm_prefix_arm_id' concatenated with an underscore if 'no_prefix' is not set -->
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<xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />
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<xacro:if value="${gazebo}">
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<xacro:property name="connected_to" value="" />
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</xacro:if>
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<xacro:unless value="${not connected_to}">
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<link name="${connected_to}">
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</link>
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<joint name="${prefix}${connected_to}_joint" type="fixed">
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<parent link="${connected_to}"/>
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<child link="${prefix}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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<xacro:link_with_sc no_prefix="${no_prefix}" name="link0" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="-0.075 0 0.06" direction="x" radius="${0.06+safety_distance}" length="0.03" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link1" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 -191.5e-3" radius="${0.06+safety_distance}" length="0.283" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint1" type="revolute">
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<xacro:franka-kinematics name="joint1" config="${kinematics}" />
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<parent link="${prefix}link0" />
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<child link="${prefix}link1" />
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<axis xyz="0 0 1" />
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<xacro:franka-limits name="joint1" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint1" config="${dynamics}" />
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</joint>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link2" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 0" radius="${0.06+safety_distance}" length="0.12" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint2" type="revolute">
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<xacro:franka-kinematics name="joint2" config="${kinematics}" />
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<parent link="${prefix}link1" />
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<child link="${prefix}link2" />
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<axis xyz="0 0 1" />
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<xacro:franka-limits name="joint2" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint2" config="${dynamics}" />
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</joint>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link3" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 -0.145" radius="${0.06+safety_distance}" length="0.15" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint3" type="revolute">
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<xacro:franka-kinematics name="joint3" config="${kinematics}" />
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<parent link="${prefix}link2" />
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<child link="${prefix}link3" />
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<axis xyz="0 0 1" />
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<xacro:franka-limits name="joint3" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint3" config="${dynamics}" />
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</joint>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link4" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 0" radius="${0.06+safety_distance}" length="0.12" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint4" type="revolute">
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<xacro:franka-kinematics name="joint4" config="${kinematics}" />
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<parent link="${prefix}link3" />
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<child link="${prefix}link4" />
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<axis xyz="0 0 1" />
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<xacro:franka-limits name="joint4" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint4" config="${dynamics}" />
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</joint>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link5" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 -0.26" radius="${0.060+safety_distance}" length="0.10" />
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<xacro:collision_capsule xyz="0 0.08 -0.13" radius="${0.025+safety_distance}" length="0.14" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint5" type="revolute">
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<xacro:franka-kinematics name="joint5" config="${kinematics}" />
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<parent link="${prefix}link4" />
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<child link="${prefix}link5" />
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<axis xyz="0 0 1" />
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<xacro:franka-limits name="joint5" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint5" config="${dynamics}" />
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</joint>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link6" gazebo="${gazebo}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 -0.03" radius="${0.05+safety_distance}" length="0.08" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint6" type="revolute">
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<xacro:franka-kinematics name="joint6" config="${kinematics}" />
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<parent link="${prefix}link5" />
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<child link="${prefix}link6" />
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<axis xyz="0 0 1" />
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<xacro:franka-limits name="joint6" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint6" config="${dynamics}" />
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</joint>
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<xacro:link_with_sc no_prefix="${no_prefix}" name="link7" gazebo="${gazebo}" rpy="0 0 ${pi/4}" with_sc="${with_sc}">
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<self_collision_geometries>
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<xacro:collision_capsule xyz="0 0 0.01" direction="z" radius="${0.04+safety_distance}" length="0.14" />
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<xacro:collision_capsule xyz="0.06 0 0.082" direction="x" radius="${0.03+safety_distance}" length="0.01" />
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</self_collision_geometries>
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</xacro:link_with_sc>
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<joint name="${prefix}joint7" type="revolute">
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<xacro:franka-kinematics name="joint7" config="${kinematics}" />
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<parent link="${prefix}link6"/>
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<child link="${prefix}link7"/>
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<axis xyz="0 0 1"/>
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<xacro:franka-limits name="joint7" config="${joint_limits}" />
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<xacro:franka-dynamics name="joint7" config="${dynamics}" />
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</joint>
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<link name="${prefix}link8"/>
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<joint name="${prefix}joint8" type="fixed">
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<xacro:franka-kinematics name="joint8" config="${kinematics}" />
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<parent link="${prefix}link7" />
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<child link="${prefix}link8" />
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</joint>
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</xacro:macro>
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</robot>
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