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Draft: Add basic planar joint support in the urdf parser #915

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Draft: Add basic planar joint support in the urdf parser #915

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193 changes: 193 additions & 0 deletions tesseract_support/urdf/lbr_iiwa_14_r820_with_planar.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from lbr_iiwa_14_r820.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="kuka_lbr_iiwa_14_r820">
<!-- link list -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/base_link.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/base_link.stl"/>
</geometry>
</collision>
</link>
<link name="link_1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_1.stl"/>
</geometry>
</collision>
</link>
<link name="link_2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_2.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_2.stl"/>
</geometry>
</collision>
</link>
<link name="link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_3.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_3.stl"/>
</geometry>
</collision>
</link>
<link name="link_4">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_4.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_4.stl"/>
</geometry>
</collision>
</link>
<link name="link_5">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_5.stl"/>
</geometry>
</collision>
</link>
<link name="link_6">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_6.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_6.stl"/>
</geometry>
</collision>
</link>
<link name="link_7">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_7.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_7.stl"/>
</geometry>
</collision>
</link>
<link name="tool0"/>
<!-- end of link list -->
<!-- joint list -->
<joint name="joint_a1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-2.9668" upper="2.9668" velocity="1.4834"/>
</joint>
<joint name="joint_a2" type="revolute">
<origin rpy="0 0 0" xyz="-0.00043624 0 0.36"/>
<parent link="link_1"/>
<child link="link_2"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.0942" upper="2.0942" velocity="1.4834"/>
</joint>
<joint name="joint_a3" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_2"/>
<child link="link_3"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-2.9668" upper="2.9668" velocity="1.7452"/>
</joint>
<joint name="joint_a4" type="revolute">
<origin rpy="0 0 0" xyz="0.00043624 0 0.42"/>
<parent link="link_3"/>
<child link="link_4"/>
<axis xyz="0 -1 0"/>
<limit effort="0" lower="-2.0942" upper="2.0942" velocity="1.3089"/>
</joint>
<joint name="joint_a5" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_4"/>
<child link="link_5"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-2.9668" upper="2.9668" velocity="2.2688"/>
</joint>
<joint name="joint_a6" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.4"/>
<parent link="link_5"/>
<child link="link_6"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.0942" upper="2.0942" velocity="2.356"/>
</joint>
<joint name="joint_a7" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_6"/>
<child link="link_7"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-3.0541" upper="3.0541" velocity="2.356"/>
</joint>
<joint name="joint_a7-tool0" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.126"/>
<parent link="link_7"/>
<child link="tool0"/>
<axis xyz="0 0 0"/>
</joint>
<!-- end of joint list -->
<!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
<link name="base"/>
<joint name="base_link-base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<link name="world"/>
<joint name="world-base_link" type="planar">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
<axis xyz="0 0 1"/>
</joint>
</robot>
5 changes: 5 additions & 0 deletions tesseract_support/urdf/lbr_iiwa_14_r820_with_planar.xacro
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<?xml version="1.0" ?>
<robot name="kuka_lbr_iiwa_14_r820" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find tesseract_support)/urdf/lbr_iiwa_14_r820_macro.xacro"/>
<xacro:kuka_lbr_iiwa_14_r820 prefix=""/>
</robot>
195 changes: 195 additions & 0 deletions tesseract_support/urdf/lbr_iiwa_14_r820_with_planar_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="kuka_lbr_iiwa_14_r820" params="prefix">
<!-- link list -->
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/base_link.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/base_link.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_1.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_2.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_3.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_4.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_4.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_5.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_5.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_6.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_6.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}link_7">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/visual/link_7.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://tesseract_support/meshes/lbr_iiwa_14_r820/collision/link_7.stl" />
</geometry>
</collision>
</link>
<link name="${prefix}tool0" />
<!-- end of link list -->

<!-- joint list -->
<joint name="${prefix}joint_a1" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}base_link" />
<child link="${prefix}link_1" />
<axis xyz="0 0 1" />
<limit lower="-2.9668" upper="2.9668" effort="0" velocity="1.4834" />
</joint>
<joint name="${prefix}joint_a2" type="revolute">
<origin xyz="-0.00043624 0 0.36" rpy="0 0 0" />
<parent link="${prefix}link_1" />
<child link="${prefix}link_2" />
<axis xyz="0 1 0" />
<limit lower="-2.0942" upper="2.0942" effort="0" velocity="1.4834" />
</joint>
<joint name="${prefix}joint_a3" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}link_2" />
<child link="${prefix}link_3" />
<axis xyz="0 0 1" />
<limit lower="-2.9668" upper="2.9668" effort="0" velocity="1.7452" />
</joint>
<joint name="${prefix}joint_a4" type="revolute">
<origin xyz="0.00043624 0 0.42" rpy="0 0 0" />
<parent link="${prefix}link_3" />
<child link="${prefix}link_4" />
<axis xyz="0 -1 0" />
<limit lower="-2.0942" upper="2.0942" effort="0" velocity="1.3089" />
</joint>
<joint name="${prefix}joint_a5" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}link_4" />
<child link="${prefix}link_5" />
<axis xyz="0 0 1" />
<limit lower="-2.9668" upper="2.9668" effort="0" velocity="2.2688" />
</joint>
<joint name="${prefix}joint_a6" type="revolute">
<origin xyz="0 0 0.4" rpy="0 0 0" />
<parent link="${prefix}link_5" />
<child link="${prefix}link_6" />
<axis xyz="0 1 0" />
<limit lower="-2.0942" upper="2.0942" effort="0" velocity="2.356" />
</joint>
<joint name="${prefix}joint_a7" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${prefix}link_6" />
<child link="${prefix}link_7" />
<axis xyz="0 0 1" />
<limit lower="-3.0541" upper="3.0541" effort="0" velocity="2.356" />
</joint>
<joint name="${prefix}joint_a7-tool0" type="fixed">
<origin xyz="0 0 0.126" rpy="0 0 0" />
<parent link="${prefix}link_7" />
<child link="${prefix}tool0" />
<axis xyz="0 0 0" />
</joint>
<!-- end of joint list -->

<!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
<link name="${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="world" />
<joint name="world-${prefix}base_link" type="planar">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="world"/>
<child link="${prefix}base_link"/>
<axis xyz="0 0 1" />
</joint>
</xacro:macro>
</robot>

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