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vxxmd.urdf.xacro
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vxxmd.urdf.xacro
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<?xml version="1.0"?>
<robot name="vxxmd" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="robot_name" default = ""/>
<xacro:arg name="external_urdf_loc" default=""/>
<xacro:arg name="use_world_frame" default="false"/>
<xacro:property name="urdf_loc" value="$(arg external_urdf_loc)"/>
<material name="interbotix_black">
<texture filename="package://interbotix_descriptions/meshes/interbotix_black.png"/>
</material>
<xacro:if value="$(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_vxxmd/VXT-XMD-M-1-Base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="0 0 0"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vxxmd/VXT-XMD-M-1-Base.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="pan" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="100" lower="${-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>
<link name="$(arg robot_name)/shoulder_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="0 0 -0.003175"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vxxmd/VXT-XMD-M-2-Shoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="0 0 -0.003175"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vxxmd/VXT-XMD-M-2-Shoulder.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="tilt" type="revolute">
<axis xyz="0 1 0"/>
<limit effort="100" lower="${radians(-68)}" upper="${radians(68)}" velocity="${pi}"/>
<origin rpy="0 0 0" xyz="0 0 0.04805"/>
<parent link="$(arg robot_name)/shoulder_link"/>
<child link="$(arg robot_name)/top_link"/>
</joint>
<link name="$(arg robot_name)/top_link">
<visual>
<origin rpy="0 0 ${pi/2}" xyz="0 0 -0.1314386"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vxxmd/VXT-XMD-M-3-Top.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="interbotix_black"/>
</visual>
<collision>
<origin rpy="0 0 ${pi/2}" xyz="0 0 -0.1314386"/>
<geometry>
<mesh filename="package://interbotix_descriptions/meshes/meshes_vxxmd/VXT-XMD-M-3-Top.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>>
</link>
<joint name="surface" type="fixed">
<axis xyz="1 0 0"/>
<origin rpy="0 0 0" xyz="0 0 0.045"/>
<parent link="$(arg robot_name)/top_link"/>
<child link="$(arg robot_name)/surface_link"/>
</joint>
<link name="$(arg robot_name)/surface_link">
</link>
<xacro:if value="${urdf_loc != ''}">
<xacro:include filename="${urdf_loc}"/>
</xacro:if>
</robot>