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path_to_original_xacro_file.xacro
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path_to_original_xacro_file.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="camera.xacro" />
<!-- <xacro:macro name="abb_irb140" params="prefix param_value"> -->
<!-- <xacro:include filename="$(find abb_irb140_support)/config/parameters.yaml" /> -->
<xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
<xacro:macro name="abb_irb140" params="prefix">
<!-- link list -->
<link name="${prefix}base_link">
<inertial>
<mass value="2"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.002" ixy="0.002" ixz="0.002" iyy="0.002" iyz="0.002" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/base_link.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange">
<color rgba="1 0.43 0 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/base_link.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
</material>
</collision>
</link>
<link name="${prefix}link_1">
<inertial>
<mass value="2" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.002" ixy="0.002" ixz="0.002" iyy="0.002" iyz="0.002" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_1.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_1.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<link name="${prefix}link_2">
<inertial>
<mass value="2"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.002" ixy="0.002" ixz="0.002" iyy="0.002" iyz="0.002" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.07 0 -0.352"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_2.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.07 0 -0.352"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_2.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<link name="${prefix}link_3">
<inertial>
<mass value="2"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.002" ixy="0.002" ixz="0.002" iyy="0.002" iyz="0.002" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.07 0.065 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_3.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.07 0.065 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_3.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<link name="${prefix}link_4">
<inertial>
<mass value="2"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.002" ixy="0.002" ixz="0.002" iyy="0.002" iyz="0.002" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.309 0 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_4.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.309 0 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_4.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<link name="${prefix}link_5">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.002" ixy="0.002" ixz="0.002" iyy="0.002" iyz="0.002" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.450 0 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_5.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.450 0 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_5.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<link name="${prefix}link_6">
<inertial>
<mass value="1"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.515 0 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_6.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="abb_orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.515 0 -0.712"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_6.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<!-- <link name="${prefix}tool0">
<visual>
<origin rpy="0 0 0" xyz="-0.515 0.001 -0.181"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/tool0.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.515 0.001 -0.181"/>
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/collision/tool0.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</collision>
</link> -->
<link name="${prefix}tool0">
<visual>
<origin rpy="0 0 0" xyz="-0.5945 -0.022 -0.6879"/>
<!-- <origin rpy="0 0 0" xyz="-0.5845 -0.0234 -0.765"/> fail -->
<!-- <origin rpy="0 0 0" xyz="-0.12145 -0.0234 -0.765"/> -->
<!-- <origin rpy="0 -1.5708 0" xyz="-0.5145 0 -0.711"/> -->
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/tool0.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.5945 -0.022 -0.6879"/>
<!-- <origin rpy="0 0 0" xyz="-0.5145 0 -0.711"/> -->
<geometry>
<mesh filename="package://abb_irb140_support/meshes/irb140/visual/tool0.stl" scale="0.01 0.01 0.01"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</collision>
</link>
<link name="${prefix}tool1"/>
<!-- end of link list -->
<!-- joint list -->
<joint name="${prefix}joint_1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-3.1416" upper="3.1416" velocity="3.4907"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="joint_2" type="revolute">
<origin rpy="0 0 0" xyz="0.070 0 0.352"/>
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-1.5708" upper="1.9199" velocity="3.4907"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="joint_3" type="revolute">
<origin rpy="0 0 0" xyz="0 -0.065 0.360"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-4.0143" upper="0.87274434" velocity="4.5379"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="${prefix}joint_4" type="revolute">
<origin rpy="0 0 0" xyz="0.239 0.065 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-3.4907" upper="3.4907" velocity="6.2832"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="${prefix}joint_5" type="revolute">
<origin rpy="0 0 0" xyz="0.141 0 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.0071" upper="2.0071" velocity="6.2832"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="${prefix}joint_6" type="revolute">
<origin rpy="0 0 0" xyz="0.065 0 0"/>
<parent link="${prefix}link_5"/>
<child link="${prefix}link_6"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-6.9813" upper="6.9813" velocity="7.854"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<joint name="${prefix}joint_6-tool0" type="fixed">
<parent link="${prefix}link_6"/>
<child link="${prefix}tool0"/>
<origin rpy="0 0 0" xyz="0.08 0.022 -0.023"/>
</joint>
<joint name="${prefix}tool-tool1" type="fixed">
<parent link="tool0"/>
<child link="tool1"/>
<origin rpy="3.14159 1.5708 0" xyz="0 0 0"/>
</joint>
<!-- end of joint list -->
<!-- ROS base_link to ABB World Coordinates transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>
<link name="obj_position_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.160000"/>
<geometry>
<box size="0.250000 0.280000 0.320000"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 $(param_value)"/>
<geometry>
<box size="$(param_length) $(param_width) $(param_height)"/>
</geometry>
</collision>
</link>
<joint name="base_link-obj_position_link" type="fixed">
<origin rpy="0 0 0" xyz="$(param_center) 0 0"/>
<parent link="base_link"/>
<child link="obj_position_link"/>
</joint> -->
<!-- <link name="${prefix}holder_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.15"/>
<geometry>
<box size="0.05 0.05 0.3"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.15"/>
<geometry>
<box size="0.05 0.05 0.3"/>
</geometry>
</collision>
</link>
<joint name="${prefix}base_link-holder_link" type="fixed">
<origin rpy="0 0 0" xyz="0.3 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}holder_link"/>
</joint>
<link name="${prefix}obj_position_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.1 0.1 0.2"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<geometry>
<box size="0.1 0.1 0.2"/>
</geometry>
</collision>
</link>
<joint name="${prefix}base_link-obj_position_link" type="fixed">
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}obj_position_link"/>
</joint>
</xacro:macro>
</robot>