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Generate thirdparty Hiwin RA620 1621 URDF file with Xacro
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with the following commands:

    # in git repo root directory
    docker run --rm -it -v $(pwd):/workspace osrf/ros:noetic-desktop-full
    # in the docker container
    mkdir -p ~/catkin_ws/src
    cp -r /workspace/thirdparty/hiwin_ra620_1621_support ~/catkin_ws/src
    cd ~/catkin_ws/
    catkin_make
    source devel/setup.sh
    cd /workspace/thirdparty/hiwin_ra620_1621_support/urdf
    xacro -o ra620_1621.urdf ra620_1621.xacro
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@j3soon
j3soon committed Nov 21, 2023
1 parent a683bc9 commit 613aa93
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ra620_1621.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="hiwin_ra620_1621">
<!-- links: main serial chain -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_1">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/link_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.999 0.999 0.999 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/link_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_2">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/link_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.999 0.999 0.999 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/link_2.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_3">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/link_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.999 0.999 0.999 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/link_3.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_4">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/link_4.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.999 0.999 0.999 1.0"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/link_4.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_5">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/link_5.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.999 0.999 0.999 1.0"/>
</material>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/link_5.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_6">
<visual>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/visual/link_6.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.999 0.999 0.999 1.0"/>
</material>
</visual>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hiwin_ra620_1621_support/meshes/collision/link_6.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<!-- joints: main serial chain -->
<joint name="joint_1" type="revolute">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.245"/>
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="2.018"/>
</joint>
<joint name="joint_2" type="revolute">
<origin rpy="0.0 0.0 0.0" xyz="0.106 0.150 0.280"/>
<parent link="link_1"/>
<child link="link_2"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-2.356194490192345" upper="1.7453292519943295" velocity="2.018"/>
</joint>
<joint name="joint_3" type="revolute">
<origin rpy="0.0 0.0 0.0" xyz="0.0385 0.0 0.770"/>
<parent link="link_2"/>
<child link="link_3"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-1.3962634015954636" upper="3.3161255787892263" velocity="2.018"/>
</joint>
<joint name="joint_4" type="revolute">
<origin rpy="0.0 0.0 0.0" xyz="-0.1445 0.231 0.150"/>
<parent link="link_3"/>
<child link="link_4"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-3.490658503988659" upper="3.490658503988659" velocity="2.018"/>
</joint>
<joint name="joint_5" type="revolute">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.454 0.0"/>
<parent link="link_4"/>
<child link="link_5"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-2.2689280275926285" upper="2.2689280275926285" velocity="2.018"/>
</joint>
<joint name="joint_6" type="revolute">
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0885 0.0"/>
<parent link="link_5"/>
<child link="link_6"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.018"/>
</joint>
<!-- ROS-Industrial 'base' frame: base_link to HIWIN World Coordinates transform -->
<link name="base"/>
<joint name="base_link-base" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0.0 0.525"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
<link name="flange"/>
<joint name="joint_6-flange" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0215 0"/>
<parent link="link_6"/>
<child link="flange"/>
</joint>
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
<link name="tool0"/>
<joint name="link_6-tool0" type="fixed">
<origin rpy="0.0 -1.5707963267948966 -1.5707963267948966" xyz="0 0.1215 0.0"/>
<parent link="link_6"/>
<child link="tool0"/>
</joint>
</robot>

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