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kuka_lwr.urdf.xacro
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<?xml version="1.0"?>
<robot name="kuka_lwr" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- utils /-->
<xacro:include filename="$(find lwr_description)/model/utils.xacro"/>
<xacro:include filename="$(find lwr_description)/model/kuka_materials.xacro"
/>
<!-- gazebo and transmission models /-->
<xacro:include filename="$(find lwr_description)/model/kuka_lwr.gazebo.xacro"/>
<xacro:include filename="$(find lwr_description)/model/kuka_lwr.transmission.xacro"/>
<!-- properties /-->
<xacro:property name="base_mass" value="2.0"/>
<xacro:property name="link_mass" value="2.35"/>
<xacro:property name="wrist_mass" value="1.1"/>
<xacro:property name="tip_mass" value="0.25"/>
<xacro:property name="velocity_scale" value="1"/>
<xacro:property name="effort_scale" value="1"/>
<xacro:property name="max_stiffness" value="5000"/>
<xacro:property name="min_stiffness" value="0"/>
<xacro:property name="rate_stiffness" value="20000"/> <!-- reflex to stiffness -->
<!-- URDF model /-->
<xacro:macro name="kuka_lwr" params="parent name *origin">
<!-- First (shoulder) element of the arm. Fixed to its parent. -->
<joint name="${parent}_${name}_base_joint" type="fixed">
<xacro:insert_block name="origin"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${parent}"/>
<child link="${name}_base_link"/>
</joint>
<link name="${name}_base_link">
<inertial>
<mass value="${base_mass}"/>
<origin xyz="0 0 0.055" />
<cylinder_inertia_def radius="0.06" length="0.11" mass="${base_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/base.STL"/>
</geometry>
<material name="Kuka/Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.055" rpy="0 0 ${M_PI}"/>
<geometry>
<cylinder radius="0.07" length="0.11"/>
</geometry>
</collision>
</link>
<!-- Second segment of the arm. Joint along z-axis -->
<joint name="${name}_a1_joint" type="revolute">
<origin xyz="0 0 0.11" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" effort="176" velocity="${velocity_scale * 110 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_base_link"/>
<child link="${name}_1_link"/>
</joint>
<joint name="${name}_a1_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_base_link"/>
<child link="${name}_1_link_dummy"/>
</joint>
<link name="${name}_1_link_dummy"/>
<link name="${name}_1_link">
<inertial>
<mass value="${link_mass}"/>
<origin rpy="0 0 0" xyz="0 -0.06 0.130"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260" mass="${link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 -0.008" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_1.STL"/>
</geometry>
<material name="Kuka/Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.06 0.2" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.03 0.1" rpy="-0.291 0 0"/>
<geometry>
<cylinder radius="0.07" length="0.208"/>
</geometry>
</collision>
</link>
<!-- Third segment of the arm. Joint along y-axis -->
<joint name="${name}_a2_joint" type="revolute">
<origin xyz="0 0 0.2005" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}" effort="176" velocity="${velocity_scale * 110 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_1_link"/>
<child link="${name}_2_link"/>
</joint>
<joint name="${name}_a2_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_1_link"/>
<child link="${name}_2_link_dummy"/>
</joint>
<link name="${name}_2_link_dummy"/>
<link name="${name}_2_link">
<inertial>
<mass value="${link_mass}"/>
<origin rpy="0 0 0" xyz="0 0.06 ${0.130 - 0.06}"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260" mass="${link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0.0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_2.STL"/>
</geometry>
<material name="Kuka/Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.2" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.06 0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.03 0.1" rpy="-0.291 0 0"/>
<geometry>
<cylinder radius="0.07" length="0.208"/>
</geometry>
</collision>
</link>
<!-- Fourth element of the arm. z-axis -->
<joint name="${name}_e1_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" effort="100" velocity="${velocity_scale * 128 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_2_link"/>
<child link="${name}_3_link"/>
</joint>
<joint name="${name}_e1_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_2_link"/>
<child link="${name}_3_link_dummy"/>
</joint>
<link name="${name}_3_link_dummy"/>
<link name="${name}_3_link">
<inertial>
<mass value="${link_mass}"/>
<origin rpy="0 0 0" xyz="0 0.06 0.130"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.260" mass="${link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 -0.008" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_3.STL"/>
</geometry>
<material name="Kuka/Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.06 0.2" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.03 0.1" rpy="0.291 0 0"/>
<geometry>
<cylinder radius="0.07" length="0.208"/>
</geometry>
</collision>
</link>
<!-- fifth element of the arm. x-axis -->
<joint name="${name}_a3_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}" effort="100" velocity="${velocity_scale * 128 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_3_link"/>
<child link="${name}_4_link"/>
</joint>
<joint name="${name}_a3_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_3_link"/>
<child link="${name}_4_link_dummy"/>
</joint>
<link name="${name}_4_link_dummy"/>
<link name="${name}_4_link">
<inertial>
<mass value="${link_mass}"/>
<origin rpy="0 0 0" xyz="0 -0.06 ${0.130 - 0.06}"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.2600" mass="${link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0.0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_4.STL"/>
</geometry>
<material name="Kuka/Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.2" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.06 0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.03 0.1" rpy="0.291 0 0"/>
<geometry>
<cylinder radius="0.07" length="0.208"/>
</geometry>
</collision>
</link>
<!-- Sixth element of the arm. z-axis -->
<joint name="${name}_a4_joint" type="revolute">
<origin xyz="0 0 0.20" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" effort="100" velocity="${velocity_scale * 204 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_4_link"/>
<child link="${name}_5_link"/>
</joint>
<joint name="${name}_a4_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_4_link"/>
<child link="${name}_5_link_dummy"/>
</joint>
<link name="${name}_5_link_dummy"/>
<link name="${name}_5_link">
<inertial>
<mass value="${link_mass}"/>
<origin rpy="0 0 0" xyz="0 0 0.124"/>
<cuboid_inertia_def length="0.12" width="0.06" height="0.248" mass="${link_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 -0.008" rpy="0 0 ${M_PI}"/>
<geometry name="${name}_5_geom">
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_5.STL"/>
</geometry>
<material name="Kuka/Orange"/>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.04 0.19" rpy="0 0 0"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.02 0.095" rpy="-0.207 0 0"/>
<geometry>
<cylinder radius="0.07" length="0.198"/>
</geometry>
</collision>
</link>
<!-- Seventh element of the arm. z-axis -->
<joint name="${name}_a5_joint" type="revolute">
<origin xyz="0 0 0.19" rpy="0 0 0"/>
<axis xyz="0 -1 0"/>
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}" effort="38" velocity="${velocity_scale * 184 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_5_link"/>
<child link="${name}_6_link"/>
</joint>
<joint name="${name}_a5_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_5_link"/>
<child link="${name}_6_link_dummy"/>
</joint>
<link name="${name}_6_link_dummy"/>
<link name="${name}_6_link">
<inertial>
<mass value="${wrist_mass}"/>
<origin rpy="0 0 0" xyz="0 0 0.0625"/>
<cuboid_inertia_def length="0.125" width="0.125" height="0.125" mass="${wrist_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_6.STL"/>
</geometry>
<material name="Kuka/Grey"/>
</visual>
<collision>
<origin xyz="0 -0.01 0" rpy="0 0 ${M_PI}"/>
<geometry>
<sphere radius="0.08"/>
</geometry>
</collision>
</link>
<!-- Eighth element of the arm. z-axis -->
<joint name="${name}_a6_joint" type="revolute">
<origin xyz="0 0 0.078" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}" effort="38" velocity="${velocity_scale * 184 * M_PI / 180}" />
<dynamics friction="10.0" damping="1.0"/>
<parent link="${name}_6_link"/>
<child link="${name}_7_link"/>
</joint>
<joint name="${name}_a6_joint_stiffness" type="revolute">
<axis xyz="0 0 1"/>
<limit lower="${min_stiffness}" upper="${max_stiffness}" effort="0" velocity="${rate_stiffness}" />
<safety_controller soft_lower_limit="${min_stiffness}" soft_upper_limit="${max_stiffness}" k_position="30" k_velocity="30"/>
<parent link="${name}_6_link"/>
<child link="${name}_7_link_dummy"/>
</joint>
<link name="${name}_7_link_dummy"/>
<link name="${name}_7_link">
<inertial>
<mass value="${tip_mass}"/>
<origin xyz="0 0 0"/>
<cuboid_inertia_def length="0.1" width="0.1" height="0.1" mass="${tip_mass}"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<mesh filename="package://lwr_description/meshes/lwr4plus/visual/link_7.STL"/>
</geometry>
<material name="Kuka/DarkGrey"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
<geometry>
<cylinder radius="0.04" length="0.05"/>
</geometry>
</collision>
</link>
<xacro:kuka_lwr_gazebo name="${name}"/>
<xacro:kuka_lwr_transmission name="${name}"/>
</xacro:macro>
</robot>