lss_4dof.urdf.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" >

  <xacro:include filename="$(find lss_4dof_description)/model/materials.urdf"/>
  <xacro:include filename="$(find lss_4dof_description)/model/lss_4dof.inertia.xacro"/>
  <xacro:include filename="$(find lss_4dof_description)/model/lss_4dof.transmission.xacro"/>

  <xacro:property name="M_PI" value="3.1415926535897931" />
  <xacro:property name="velocity_scale_factor" value="1.0"/>
  
  <xacro:macro name="lss_4dof" params="parent name *origin">


    <!-- The base fixed to its parent. -->
    <joint name="${parent}_${name}_base_joint" type="fixed">
      <xacro:insert_block name="origin"/>
      <parent link="${parent}"/>
      <child link="${name}_base_link"/>
    </joint>
    
    <link name="${name}_base_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="-0.009 0.0068 0" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://lss_4dof_description/meshes/Arm_Base.stl" scale="0.001 0.001 0.001" />
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 0.0 0.021" rpy="0 0 0"/>
        <geometry>
          <cylinder radius="0.055" length="0.042"/>
        </geometry>
      </collision>
    </link>
    
    <!-- 1-Axis -->
    <joint name="${name}_axis_1_joint" type="revolute">
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <axis xyz="0 0 1"/>
      <limit lower="${-180 * M_PI / 180}" upper="${180 * M_PI / 180}"
             effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
      <safety_controller soft_lower_limit="${-180 * M_PI / 180}"
                         soft_upper_limit="${180 * M_PI / 180}"
                         k_position="30"
                         k_velocity="30"/>
      <dynamics friction="1.0" damping="1.0"/>
      <parent link="${name}_base_link"/>
      <child link="${name}_axis_1_link"/>
    </joint>

    <link name="${name}_axis_1_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="-0.016 0.016 0.0425" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://lss_4dof_description/meshes/Link_1.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 0.0 0.072" rpy="0 0 0"/>
        <geometry>
          <box size="0.04 0.027 0.07"/>
        </geometry>
      </collision>
    </link>

    <!-- 2-Axis -->
    <joint name="${name}_axis_2_joint" type="revolute">
      <!-- add 0.0142 in z and sub 0.007 in y -->
      <!-- <origin xyz="0.004 0.007 0.083" rpy="0 0 0"/> -->
      <origin xyz="0 0.0 0.0955" rpy="0 0 0"/>
      <axis xyz="1 0 0"/>
      <limit lower="${-110 * M_PI / 180}" upper="${100 * M_PI / 180}"
             effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
      <safety_controller soft_lower_limit="${-110 * M_PI / 180}"
                         soft_upper_limit="${100 * M_PI / 180}"
                         k_position="30"
                         k_velocity="30"/>
      <dynamics friction="1.0" damping="1.0"/>
      <parent link="${name}_axis_1_link"/>
      <child link="${name}_axis_2_link"/>
    </joint>

    <link name="${name}_axis_2_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="0.004 -0.0148 -0.0125" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://lss_4dof_description/meshes/Link_2.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 0.0 0.087" rpy="0 0 0"/>
        <geometry>
          <box size="0.025 0.025 0.127"/>
        </geometry>
      </collision>
    </link>

    <!-- 3-Axis -->
    <joint name="${name}_axis_3_joint" type="revolute">
      <origin xyz="0 -0.025 0.14" rpy="0 0 0"/>
      <axis xyz="1 0 0"/>
      <limit lower="${-30 * M_PI / 180}" upper="${178 * M_PI / 180}"
             effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
      <safety_controller soft_lower_limit="${-30 * M_PI / 180}"
                         soft_upper_limit="${175 * M_PI / 180}"
                         k_position="30"
                         k_velocity="30"/>
      <dynamics friction="1.0" damping="1.0"/>
      <parent link="${name}_axis_2_link"/>
      <child link="${name}_axis_3_link"/>
    </joint>

    <link name="${name}_axis_3_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="0.004 0.007 -0.013" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://lss_4dof_description/meshes/Link_3.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 0.0 0.087" rpy="0 0 0"/>
        <geometry>
          <box size="0.025 0.025 0.127"/>
        </geometry>
      </collision>
    </link>

    <!-- 4-Axis -->
    <joint name="${name}_axis_4_joint" type="revolute">
      <origin xyz="0 -0.0005 0.1628" rpy="0 0 0"/>
      <axis xyz="1 0 0"/>
      <limit lower="${-124 * M_PI / 180}" upper="${124 * M_PI / 180}"
             effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
      <safety_controller soft_lower_limit="${-120 * M_PI / 180}"
                         soft_upper_limit="${120 * M_PI / 180}"
                         k_position="30"
                         k_velocity="30"/>
      <dynamics friction="1.0" damping="1.0"/>
      <parent link="${name}_axis_3_link"/>
      <child link="${name}_axis_4_link"/>
    </joint>

    <link name="${name}_axis_4_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="0.016 0.0127 -0.0128" rpy="0 0 0"/>
        <geometry>
          <mesh filename="package://lss_4dof_description/meshes/Link_4.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 0.0 0.042" rpy="0 0 0"/>
        <geometry>
          <box size="0.06 0.03 0.04"/>
        </geometry>
      </collision>
    </link>

    <!-- Gripper -->
    <joint name="${name}_gripper_l" type="revolute">
      <origin xyz="0.0155 -0.02 0.0505" rpy="0 0 0"/>
      <axis xyz="0 1 0"/>
      <limit lower="${-2 * M_PI / 180}" upper="${75 * M_PI / 180}"
             effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
      <safety_controller soft_lower_limit="${-1 * M_PI / 180}"
                         soft_upper_limit="${75 * M_PI / 180}"
                         k_position="30"
                         k_velocity="30"/>
      <dynamics friction="1.0" damping="1.0"/>
      <parent link="${name}_axis_4_link"/>
      <child link="${name}_gripper_l_link"/>
    </joint>

    <joint name="${name}_gripper_r" type="revolute">
      <origin xyz="-0.010 -0.02 0.0505" rpy="0 0 0"/>
      <mimic joint="${name}_gripper_l" multiplier="-1" offset="0" />
      <axis xyz="0 1 0"/>
      <limit lower="${-2 * M_PI / 180}" upper="${75 * M_PI / 180}"
             effort="204" velocity="${velocity_scale_factor * 180 * M_PI / 180}" />
      <safety_controller soft_lower_limit="${-1 * M_PI / 180}"
                         soft_upper_limit="${75 * M_PI / 180}"
                         k_position="30"
                         k_velocity="30"/>
      <dynamics friction="1.0" damping="1.0"/>
      <parent link="${name}_axis_4_link"/>
      <child link="${name}_gripper_r_link"/>
    </joint>

    <link name="${name}_gripper_l_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="-0.008 -0.02 -0.012" rpy="0 0 0"/>
        <geometry>
           <mesh filename="package://lss_4dof_description/meshes/Gripper_L.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 -0.002 0.035" rpy="0 0 0"/>
        <geometry>
          <box size="0.02 0.01 0.05"/>
        </geometry>
      </collision>
    </link>

    <link name="${name}_gripper_r_link">
      <inertial>
        <xacro:insert_block name="negligible_inertia"/>
      </inertial>
      <visual>
        <origin xyz="-0.0055 -0.02 -0.012" rpy="0 0 0"/>
        <geometry>
           <mesh filename="package://lss_4dof_description/meshes/Gripper_R.stl" scale="0.001 0.001 0.001" /> 
        </geometry>
        <material name="Arm/White"/>
      </visual>
      <collision>
        <origin xyz="0.0 -0.002 0.035" rpy="0 0 0"/>
        <geometry>
          <box size="0.02 0.01 0.05"/>
        </geometry>
      </collision>
    </link>

    <xacro:lss_4dof_transmission name="${name}"/>
  </xacro:macro>

</robot>