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jediofgever/lrmate200id7l_macro.xacro

Created September 17, 2019 10:39
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lrmate200id7l_macro.xacro
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find fanuc_resources)/urdf/common_materials.xacro"/>
<xacro:macro name="fanuc_lrmate200id" params="prefix">
<!-- links: main serial chain -->
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/base_link.stl"/>
</geometry>
<xacro:material_fanuc_gray28 />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/base_link.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_1.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_1.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_2.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_2.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_3.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_3.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_4.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_4.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_5.stl"/>
</geometry>
<xacro:material_fanuc_yellow />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_5.stl"/>
</geometry>
</collision>
</link>
<link name="${prefix}link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_6.stl"/>
</geometry>
<xacro:material_fanuc_black />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joints: main serial chain -->
<joint name="${prefix}joint_1" type="revolute">
<origin xyz="0 0 0.330" rpy="0 0 0" />
<parent link="${prefix}base_link" />
<child link="${prefix}link_1" />
<axis xyz="0 0 1" />
<limit effort="0" lower="-2.965" upper="2.965" velocity="7.85" />
</joint>
<joint name="${prefix}joint_2" type="revolute">
<origin xyz="0.050 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_1" />
<child link="${prefix}link_2" />
<axis xyz="0 1 0" />
<limit effort="0" lower="-1.745329" upper="2.530727" velocity="6.63" />
</joint>
<joint name="${prefix}joint_3" type="revolute">
<origin xyz="0 0 0.440" rpy="0 0 0"/>
<parent link="${prefix}link_2" />
<child link="${prefix}link_3" />
<axis xyz="0 -1 0" />
<limit effort="0" lower="-2.450966" upper="4.886922" velocity="9.08" />
</joint>
<joint name="${prefix}joint_4" type="revolute">
<origin xyz="0 0 0.035" rpy="0 0 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<axis xyz="-1 0 0"/>
<limit effort="0" lower="-3.315" upper="3.315" velocity="9.60" />
</joint>
<joint name="${prefix}joint_5" type="revolute">
<origin xyz="0.420 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<axis xyz="0 -1 0"/>
<limit effort="0" lower="-2.18" upper="2.18" velocity="9.51" />
</joint>
<joint name="${prefix}joint_6" type="revolute">
<origin xyz="0.080 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_5"/>
<child link="${prefix}link_6"/>
<axis xyz="-1 0 0"/>
<limit effort="0" lower="-6.285" upper="6.285" velocity="17.45" />
</joint>
<!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0.330" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
<link name="${prefix}flange" />
<joint name="${prefix}joint_6-flange" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}link_6" />
<child link="${prefix}flange" />
</joint>
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
<link name="${prefix}tool0" />
<joint name="${prefix}link_6-tool0" type="fixed">
<origin xyz="0 0 0" rpy="${pi} ${-pi/2.0} 0" />
<parent link="${prefix}link_6" />
<child link="${prefix}tool0" />
</joint>
</xacro:macro>
</robot>
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