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[WUD-538] Add spot_arm URDF file #528

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[WUD-538] Add spot_arm URDF file #528

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252 changes: 252 additions & 0 deletions spot_description/urdf/spot_arm.urdf
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<robot name="spot_arm">
<link name="body">
</link>
<link name="arm_link_sh0">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://spot/meshes/arm/visual/arm_link_sh0.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_sh0_base.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_sh0_left_motor.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_sh0_right_motor.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.008399 0.000272 -0.024603"/>
<inertia ixx="0.008896" ixy="0.000005" ixz="-0.000193" iyy="0.004922" iyz="0.000033" izz="0.0073030"/>
<mass value="1.904699"/>
</inertial>
</link>

<joint name="arm_sh0" type="revolute">
<origin xyz="0.292 0.0 0.188" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="body"/>
<child link="arm_link_sh0"/>
<!-- The velocity limits are for kinematic planning. The motors might move faster. -->
<limit effort="90.9" lower="-2.61799" upper="3.14159" velocity="10"/>
</joint>

<transmission name="arm_sh0_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_sh0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_sh0_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>

<link name="arm_link_sh1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://spot/meshes/arm/visual/arm_link_sh1.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_sh1.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.08084909 -0.00167243 0.00045644"/>
<inertia ixx="0.00261526" ixy="-0.00040406" ixz="0.00010019" iyy="0.02703868" iyz="0.00000547" izz="0.02819929"/>
<mass value="1.85701942"/>
</inertial>
</link>

<joint name="arm_sh1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="arm_link_sh0"/>
<child link="arm_link_sh1"/>
<!-- The velocity limits are for kinematic planning. The motors might move faster. -->
<limit effort="181.8" lower="-3.14159" upper="0.523599" velocity="10"/>
</joint>

<transmission name="arm_sh1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_sh1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_sh1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>

<link name="arm_link_el0">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://spot/meshes/arm/visual/arm_link_el0.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_el0.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.04476621 -0.00271130 0.04991363"/>
<inertia ixx="0.00175909" ixy="0.00006087" ixz="0.00092380" iyy="0.00269233" iyz="0.00005217" izz="0.00202854"/>
<mass value="0.94831958"/>
</inertial>
</link>

<joint name="arm_el0" type="revolute">
<origin xyz="0.3385 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="arm_link_sh1"/>
<child link="arm_link_el0"/>
<!-- The velocity limits are for kinematic planning. The motors might move faster. -->
<limit effort="90.9" lower="0" upper="3.14159" velocity="10"/>
</joint>

<transmission name="arm_el0_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_el0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_el0_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>

<link name="arm_link_el1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://spot/meshes/arm/visual/arm_link_el1.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_el1_main.obj" />
</geometry>
</collision>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_el1_lip.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.16867073 -0.01616121 0.00001149"/>
<inertia ixx="0.00117710" ixy="-0.00260549" ixz="0.00000156" iyy="0.01649389" iyz="-0.00000287" izz="0.01689901"/>
<mass value="1.01754820"/>
</inertial>
</link>

<joint name="arm_el1" type="revolute">
<origin xyz="0.40330 0.0 0.0750" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="arm_link_el0"/>
<child link="arm_link_el1"/>
<!-- The velocity limits are for kinematic planning. The motors might move faster. -->
<limit effort="30.3" lower="-2.792530" upper="2.792530" velocity="10"/>
</joint>

<transmission name="arm_el1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_el1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_el1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>

<link name="arm_link_wr0">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://spot/meshes/arm/visual/arm_link_wr0.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_wr0.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00952465 -0.01144406 0.00000186"/>
<inertia ixx="0.00046738" ixy="0.00006957" ixz="0.00000040" iyy="0.00044968" iyz="0.00000016" izz="0.00053616"/>
<mass value="0.58263740"/>
</inertial>
</link>

<joint name="arm_wr0" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="arm_link_el1"/>
<child link="arm_link_wr0"/>
<!-- The velocity limits are for kinematic planning. The motors might move faster. -->
<limit effort="30.3" lower="-1.8326" upper="1.8326" velocity="10"/>
</joint>

<transmission name="arm_wr0_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_wr0">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_wr0_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>

<link name="arm_link_wr1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://spot/meshes/arm/visual/arm_link_wr1.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://spot/meshes/arm/collision/arm_link_wr1.obj" />
</geometry>
</collision>
<inertial>
<origin xyz="0.09751283 0.00009265 -0.01120523"/>
<inertia ixx="0.00098836" ixy="-0.00000126" ixz="-0.00036919" iyy="0.00197018" iyz="-0.00000074" izz="0.00165791"/>
<mass value="0.93335298"/>
</inertial>
</link>

<joint name="arm_wr1" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="arm_link_wr0"/>
<child link="arm_link_wr1"/>
<!-- The velocity limits are for kinematic planning. The motors might move faster. -->
<limit effort="30.3" lower="-2.87989" upper="2.87979" velocity="10"/>
</joint>

<transmission name="arm_wr1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="arm_wr1">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="arm_wr1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</actuator>
</transmission>

<!--Hand camera.-->
<frame link="arm_link_wr1" name="hand_camera_body" rpy="0.0 1.41372 0.0" xyz="0.13495 0.0 0.00799"/>
<frame link="arm_link_wr1" name="hand_color_sensor" rpy="-1.41372 0.0 -1.5708" xyz="0.13806 0.0202 0.02452"/>
<frame link="arm_link_wr1" name="hand_depth_sensor" rpy="0.0 1.41372 0.0" xyz="0.13495 0.0 0.00799"/>
</robot>
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