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vx300s.urdf.xacro
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<?xml version="1.0"?>
<robot name="vx300s" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="robot_name" default = ""/>
<xacro:arg name="use_world_frame" default="false"/>
<xacro:arg name="use_default_gripper_bar" default="true"/>
<xacro:arg name="use_default_gripper_fingers" default="true"/>
<xacro:arg name="external_urdf_loc" default=""/>
<xacro:arg name="load_gazebo_configs" default="false"/>
<xacro:property name="urdf_loc" value="$(arg external_urdf_loc)"/>
<xacro:if value="$(arg load_gazebo_configs)">
<xacro:include filename="$(find interbotix_gazebo)/config/interbotix_texture.gazebo"/>
</xacro:if>
<material name="interbotix_black">
<texture filename="package://interbotix_descriptions/meshes/interbotix_black.png"/>
</material>
<xacro:if value="$(arg use_world_frame)">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="$(arg robot_name)/base_link"/>
</joint>
</xacro:if>
<link name="$(arg robot_name)/base_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-1-Base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-1-Base.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi/2}" xyz="-0.0534774000 -0.0005625750 0.0205961000"/>
<mass value="0.969034" />
<inertia ixx="0.0060240000" iyy="0.0017000000" izz="0.0071620000" ixy="0.0000471300" ixz="0.0000038510" iyz="-0.0000841500" />
</inertial>
</link>
<joint name="waist" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="100" lower="${-pi}" upper="${pi}" velocity="${pi}"/>
<origin rpy="0 0 0" xyz="0 0 0.0787"/>
<parent link="$(arg robot_name)/base_link"/>
<child link="$(arg robot_name)/shoulder_link"/>
</joint>
<transmission name="trans_waist">
<type>transmission_interface/SimpleTransmission</type>
<joint name="waist">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="waist_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/shoulder_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="0 0 -0.003"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-2-Shoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="0 0 -0.003"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-2-Shoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi/2}" xyz="0.0002592330 -0.0000033552 0.0116129000"/>
<mass value="0.798614" />
<inertia ixx="0.0009388000" iyy="0.0011380000" izz="0.0012010000" ixy="-0.0000000010" ixz="-0.0000000191" iyz="0.0000059568" />
</inertial>
</link>
<joint name="shoulder" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="100" lower="${radians(-106)}" upper="${radians(101)}" velocity="${pi}"/>
<origin rpy="0 0 0" xyz="0 0 0.04805"/>
<parent link="$(arg robot_name)/shoulder_link"/>
<child link="$(arg robot_name)/upper_arm_link"/>
</joint>
<transmission name="trans_shoulder">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="shoulder_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/upper_arm_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-3-UA.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-3-UA.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi/2}" xyz="0.0206949000 0.0000000004 0.2264590000"/>
<mass value="0.792592" />
<inertia ixx="0.0089250000" iyy="0.0089370000" izz="0.0009357000" ixy="0.0000000000" ixz="0.0000000000" iyz="0.0012010000" />
</inertial>
</link>
<joint name="elbow" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="100" lower="${radians(-92)}" upper="${radians(101)}" velocity="${pi}"/>
<origin rpy="${pi} 0 0" xyz="0.05955 0 0.3"/>
<parent link="$(arg robot_name)/upper_arm_link"/>
<child link="$(arg robot_name)/upper_forearm_link"/>
</joint>
<transmission name="trans_elbow">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/upper_forearm_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-4-UF.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-4-UF.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.105723 0 0"/>
<mass value="0.322228" />
<inertia ixx="0.0001524000" iyy="0.0013420000" izz="0.0014410000" ixy="-0.0000188300" ixz="-0.0000084064" iyz="0.0000012564" />
</inertial>
</link>
<joint name="forearm_roll" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="100" lower="${radians(-180)}" upper="${radians(180)}" velocity="${pi}"/>
<origin rpy="0 0 0" xyz="0.2 0 0"/>
<parent link="$(arg robot_name)/upper_forearm_link"/>
<child link="$(arg robot_name)/lower_forearm_link"/>
</joint>
<transmission name="trans_forearm_roll">
<type>transmission_interface/SimpleTransmission</type>
<joint name="forearm_roll">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="forearm_roll_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/lower_forearm_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-5-LF.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-5-LF.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0513477000 -0.0068046200 0"/>
<mass value="0.414823" />
<inertia ixx="0.0001753000" iyy="0.0005269000" izz="0.0005911000" ixy="-0.0000852800" ixz="0" iyz="0" />
</inertial>
</link>
<joint name="wrist_angle" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="100" lower="${radians(-130)}" upper="${radians(107)}" velocity="${pi}"/>
<origin rpy="0 0 0" xyz="0.1 0 0"/>
<parent link="$(arg robot_name)/lower_forearm_link"/>
<child link="$(arg robot_name)/wrist_link"/>
</joint>
<transmission name="trans_wrist_angle">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_angle">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_angle_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/wrist_link">
<visual>
<origin rpy="0 ${pi} ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-6-Wrist.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 ${pi} ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-6-Wrist.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 ${pi} ${pi/2}" xyz="0.0467430000 0.0000076652 -0.0105650000"/>
<mass value="0.115395" />
<inertia ixx="0.0000463100" iyy="0.0000451400" izz="0.0000527000" ixy="0.0000000195" ixz="0.0000000023" iyz="0.0000042002" />
</inertial>
</link>
<joint name="wrist_rotate" type="revolute">
<axis xyz="1 0 0"/>
<limit effort="100" lower="${-pi}" upper="${pi}" velocity="${pi}"/>
<origin rpy="${-pi} 0 0" xyz="0.069744 0 0"/>
<parent link="$(arg robot_name)/wrist_link"/>
<child link="$(arg robot_name)/gripper_link"/>
</joint>
<transmission name="trans_wrist_rotate">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_rotate">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="wrist_rotate_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/gripper_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="-0.02 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-7-Gripper.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="-0.02 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-7-Gripper.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi/2}" xyz="0.0230010000 0.0000000000 0.0115230000"/>
<mass value="0.097666" />
<inertia ixx="0.0000326800" iyy="0.0000243600" izz="0.0000211900" ixy="0.0000000000" ixz="0.0000000000" iyz="0.0000002785" />
</inertial>
</link>
<joint name="ee_arm" type="fixed">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.042825 0 0"/>
<parent link="$(arg robot_name)/gripper_link"/>
<child link="$(arg robot_name)/ee_arm_link"/>
</joint>
<link name="$(arg robot_name)/ee_arm_link">
<inertial>
<mass value="0.001" />
<inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
</inertial>
</link>
<joint name="gripper" type="continuous">
<axis xyz="1 0 0"/>
<limit effort="100" velocity="${pi}"/>
<origin rpy="0 0 0" xyz="0.005675 0 0"/>
<parent link="$(arg robot_name)/ee_arm_link"/>
<child link="$(arg robot_name)/gripper_prop_link"/>
</joint>
<transmission name="trans_gripper">
<type>transmission_interface/SimpleTransmission</type>
<joint name="gripper">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="gripper_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/gripper_prop_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="-0.0685 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-8-Gripper-Prop.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="-0.0685 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-8-Gripper-Prop.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi/2}" xyz="0.0023780000 0.0000000285 0.0000000000"/>
<mass value="0.008009" />
<inertia ixx="0.0000020386" iyy="0.0000042979" izz="0.0000023796" ixy="0.0000000000" ixz="0.0000006559" iyz="0.0000000000" />
</inertial>
</link>
<!-- If the default gripper bar is being used, then also add the gripper bar -->
<xacro:if value="$(arg use_default_gripper_bar)">
<joint name="gripper_bar" type="fixed">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="$(arg robot_name)/ee_arm_link"/>
<child link="$(arg robot_name)/gripper_bar_link"/>
</joint>
<link name="$(arg robot_name)/gripper_bar_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="-0.063 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-9-Gripper-Bar.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="-0.063 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-9-Gripper-Bar.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 ${pi/2}" xyz="0.0067940000 -0.0000004272 -0.0007760000"/>
<mass value="0.150986" />
<inertia ixx="0.0000789500" iyy="0.0003283000" izz="0.0003095000" ixy="-0.0000000012" ixz="0.0000001341" iyz="0.0000017465" />
</inertial>
</link>
<joint name="ee_bar" type="fixed">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.025875 0 0"/>
<parent link="$(arg robot_name)/gripper_bar_link"/>
<child link="$(arg robot_name)/fingers_link"/>
</joint>
<link name="$(arg robot_name)/fingers_link">
<inertial>
<mass value="0.001" />
<inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
</inertial>
</link>
<!-- If the default gripper fingers are being used, add those as well -->
<xacro:if value="$(arg use_default_gripper_fingers)">
<joint name="left_finger" type="prismatic">
<axis xyz="0 1 0"/>
<limit effort="10" lower="0.021" upper="0.057" velocity="1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="$(arg robot_name)/fingers_link"/>
<child link="$(arg robot_name)/left_finger_link"/>
</joint>
<transmission name="trans_left_finger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_finger">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="left_finger_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/left_finger_link">
<visual>
<origin rpy="${pi/2} ${-pi} ${pi/2}" xyz="-0.0404 -0.0575 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-10-Finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="${pi/2} ${-pi} ${pi/2}" xyz="-0.0404 -0.0575 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-10-Finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="${pi} ${pi} ${pi/2}" xyz="0.0173440000 -0.0060692000 0.0000000000"/>
<mass value="0.034796" />
<inertia ixx="0.0000243300" iyy="0.0000125500" izz="0.0000141700" ixy="-0.0000024004" ixz="0.0000000000" iyz="0.0000000000" />
</inertial>
</link>
<joint name="right_finger" type="prismatic">
<axis xyz="0 1 0"/>
<limit effort="10" lower="-0.057" upper="-0.021" velocity="1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="$(arg robot_name)/fingers_link"/>
<child link="$(arg robot_name)/right_finger_link"/>
<xacro:unless value="$(arg load_gazebo_configs)">
<mimic joint="left_finger" multiplier="-1" offset="0"/>
</xacro:unless>
</joint>
<transmission name="trans_right_finger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_finger">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="right_finger_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<link name="$(arg robot_name)/right_finger_link">
<visual>
<origin rpy="${-pi/2} ${pi} ${-pi/2}" xyz="-0.0404 0.0575 0 "/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-10-Finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="${-pi/2} ${pi} ${-pi/2}" xyz="-0.0404 0.0575 0 "/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vx300s/VXSA-300-M-10-Finger.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 ${pi} ${pi/2}" xyz="0.0173440000 0.0060692000 0.0000000000"/>
<mass value="0.034796" />
<inertia ixx="0.0000243300" iyy="0.0000125500" izz="0.0000141700" ixy="0.0000024001" ixz="0.0000000000" iyz="0.0000000000" />
</inertial>
</link>
<joint name="ee_gripper" type="fixed">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0.0385 0 0"/>
<parent link="$(arg robot_name)/fingers_link"/>
<child link="$(arg robot_name)/ee_gripper_link"/>
</joint>
<link name="$(arg robot_name)/ee_gripper_link">
<inertial>
<mass value="0.001" />
<inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0" ixz="0" iyz="0" />
</inertial>
</link>
</xacro:if>
</xacro:if>
<xacro:if value="${urdf_loc != ''}">
<xacro:include filename="${urdf_loc}"/>
</xacro:if>
</robot>