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FROM osrf/ros:humble-desktop
ARG DEBIAN_FRONTEND=noninteractive
ARG USER_UID=1001
ARG USER_GID=1001
ARG USERNAME=user
WORKDIR /workspaces
RUN groupadd --gid $USER_GID $USERNAME \
&& useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
&& mkdir -p -m 0700 /run/user/"${USER_UID}" \
&& mkdir -p -m 0700 /run/user/"${USER_UID}"/gdm \
&& chown user:user /run/user/"${USER_UID}" \
&& chown user:user /workspaces \
&& chown user:user /run/user/"${USER_UID}"/gdm
RUN apt-get update && \
DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends \
ros-humble-xacro \
ros-humble-joint-state-publisher-gui \
&& rm -rf /var/lib/apt/lists/*
ENV XDG_RUNTIME_DIR=/run/user/"${USER_UID}"
USER $USERNAME
RUN echo "source /ros_entrypoint.sh" >>~/.bashrc
ARG MAX_ROS_DOMAIN_ID=232
RUN echo "export ROS_DOMAIN_ID=100" >>~/.bashrc
RUN echo "set +e" >>~/.bashrc

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#!/bin/bash
args=$*
shift $#
source /ros_entrypoint.sh
cd /workspaces
colcon build --packages-select franka_description > /dev/null
source install/setup.bash
cd src/franka_description
python3 scripts/create_urdf.py $args

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#!/bin/bash
args=$*
shift $#
cd /workspaces
colcon build --packages-select franka_description > /dev/null
source install/setup.bash
ros2 launch franka_description visualize_franka.launch.py ${args}

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[flake8]
max-line-length = 100
; extend-exclude =
; franka_api,
extend-ignore =
# See https://github.com/PyCQA/pycodestyle/issues/373
E203,
# TODO(qu_zh): Add "E501 line too long" check later
E501,
# See https://github.com/behave/behave/issues/574
F811,

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*.pyc
*.urdf
*.env

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package franka_description
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
0.4.0 (2024-12-11)
------------------
* feature: no prefix option added
* fix: use phong instead of lambert shading
* fix: script create_urdf.sh needs the correct user id
* feature: adding the .xacro definition for multi arm setups
0.3.0 (2024-11-27)
------------------
* feature: franka_ign_ros2_control plugin for gazebo
* feature: gazebo simulation joint friction and gazebo effort interface param
* feature: support gazebo simulation in ros2
* fix: rpy values added
* fix: link0 inertials added
* fix: formatting python
* fix: gazebo ros2 plugin name
* change: changed minor principal moment of inertia to satisfy triangle inequality
* other: Update copyright date
* Contributors: Andreas Kuhner, Baris Yazici, Guillermo Gomez Pena, Marius Winkelmeier
0.2.0 (2024-05-21)
------------------
* feat: end-effector can be deactivated with an argument
* feat: add dedicated folder for end-effectors
* fix: license name in readme
* Contributors: Guillermo Gomez Pena
0.1.10 (2024-04-22)
-------------------
0.1.0 (2024-01-26)
------------------
* Publish franka_description
* Contributors: Baris Yazici, Enrico Sartori

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# Copyright (c) 2023 Franka Robotics GmbH
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
cmake_minimum_required(VERSION 3.5)
project(franka_description)
find_package(ament_cmake REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_pytest REQUIRED)
ament_add_pytest_test(${PROJECT_NAME}_urdf_tests test/urdf_tests.py)
endif()
# Install launch files.
install(DIRECTORY
launch robots end_effectors meshes rviz
DESTINATION share/${PROJECT_NAME}/
)
ament_package()

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Any contribution that you make to this repository will
be under the Apache 2 License, as dictated by that
[license](http://www.apache.org/licenses/LICENSE-2.0.html):
~~~
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
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Notwithstanding the above, nothing herein shall supersede or modify
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Contributors must sign-off each commit by adding a `Signed-off-by: ...`
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

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15
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franka_description
Copyright 2023 Franka Robotics GmbH
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

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# Franka Description
## Overview
The Franka Description repository offers all Franka Robotics models. It includes detailed 3D models and essential robot parameters, crucial for simulating these robots in various environments. Additionally, the repository provides a feature to create URDFs (Unified Robot Description Format) for the selected Franka robot model.
## Features
- **Comprehensive 3D Models**: Detailed 3D models of all Franka Robotics models for accurate simulation and visualization.
- **Robot Parameters**: All necessary robot parameters for realistic and reliable simulations.
- **URDF Creation**: Ability to create URDF files for any selected Franka robot model, essential for robot simulations in ROS and other robotic middleware.
## Prerequisites
- Docker
### URDF Creation
To start the generation, execute the start.sh script. The arguments passed to the sh script will be used from the create_urdf.py.
```
# Start the generation of the urdf model
./scripts/create_urdf.sh <robot_id> <ee_id>
```
The urdf generation is performed by the create_urdf.py script which offers several parameters to customize the output urdf model:
```
usage: create_urdf.py [-h] [--robot-ee] [--no-ee] [--with-sc] [--abs-path] [--host-dir HOST_DIR] [--only-ee] [--no-prefix] robot_model
Generate franka robots urdf models. Script to be executed from franka_description root folder!
positional arguments:
robot_model id of the robot model (accepted values are: fr3, fp3, fer, multi_arm, none)
optional arguments:
-h, --help show this help message and exit
--robot-ee id of the robot end effector (accepted values are: franka_hand, cobot_pump)
--no-ee Disable loading of end-effector (robot-ee would be ingnored if set) [WARNING: this argument will be removed in future releases, introducing "none" as ee id].
--with-sc Include self-collision volumes in the urdf model.
--abs-path Use absolute paths.
--host-dir HOST_DIR Provide a host directory for the absolute path.
--only-ee Get URDF with solely end-effector data
--no-prefix Override the robot prefix of links, joints and visuals in the urdf file.
```
### Visualize via ROS2
`franka_description` is offered as a ROS2 package.
The urdf file can be visualized via RViz with the following command:
```
# visualize_franka.sh launches the visualize_franka.launch.py in a ros2 instance running in the docker container
# The arguments given to the .sh script are forwarded as launch arguments
# Accepted launch arguments are:
# arm_id - accepted values are: fr3, fp3, fer
# load_gripper - accepted values are: true (default ee_id is franka_hand), false (ee_id will be ignored) [WARNING: this argument will be removed in future releases, introducing "none" as ee id]
# ee_id - accepted values are: franka_hand, cobot_pump
./scripts/visualize_franka.sh arm_id:=<robot_id>
```
## License
This project is licensed under the Apache License 2.0 - see the [LICENSE](LICENSE) file for details.

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end_effectors/cobot_pump/cobot_pump.urdf.xacro Normal file
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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot_pump">
<xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
<xacro:include filename="$(find franka_description)/end_effectors/cobot_pump/cobot_pump_arguments.xacro"/>
<xacro:ee_with_one_link connected_to="$(arg special_connection)"
arm_id="$(arg arm_id)"
ee_id="$(arg ee_id)"
ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
safety_distance="$(arg safety_distance)"
gazebo="$(arg gazebo)"
description_pkg="$(arg description_pkg)"
with_sc="$(arg with_sc)">
</xacro:ee_with_one_link>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Name for the robot -->
<xacro:arg name="arm_id" default="fp3" />
<!-- End-effector id" -->
<xacro:arg name="ee_id" default="cobot_pump" />
<!-- Where is the end-effector connected to, if different from the robot flange? -->
<xacro:arg name="special_connection" default="" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Position offset between ee and parent frame -->
<xacro:arg name="xyz_ee" default="0 0 0" />
<!-- Rotation offset between ee and parent frame -->
<xacro:arg name="rpy_ee" default= "0 0 0" />
<!-- Position offset between ee frame and tcp frame -->
<xacro:arg name="tcp_xyz" default="0 0 0.105" />
<!-- Rotation offset between ee frame and tcp frame -->
<xacro:arg name="tcp_rpy" default="0 0 0" />
<!-- Safety distance for the collision capsules -->
<xacro:arg name="safety_distance" default="0.03" />
<!-- Is the robot being simulated in gazebo? -->
<xacro:arg name="gazebo" default="false" />
<!-- Name of the description package -->
<xacro:arg name="description_pkg" default="franka_description" />
</robot>

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cobot_pump:
origin:
xyz: 0 0 0.063
rpy: 0 0 0
mass: 1.01
inertia:
xx: 0.001
yy: 0.001
zz: 0.001
xy: 0
xz: 0
yz: 0

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ee_with_one_link">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="ee_with_one_link" params="connected_to:='' arm_id arm_prefix:='' ee_id ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description with_sc:=false">
<xacro:property name="ee_prefix" default="robot_"/>
<xacro:unless value="${arm_id == ''}">
<xacro:property name="ee_prefix" value="${arm_prefix}${arm_id}_" />
</xacro:unless>
<xacro:unless value="${connected_to == ''}">
<joint name="${ee_prefix}${ee_id}_joint" type="fixed">
<parent link="${connected_to}" />
<child link="${ee_prefix}${ee_id}" />
<origin xyz="${xyz_ee}" rpy="${rpy_ee}" />
</joint>
</xacro:unless>
<xacro:ee_link_with_sc name="${ee_id}" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 0.04" direction="y" radius="${0.04+safety_distance}" length="0.1" />
<xacro:collision_capsule xyz="0 0 0.10" direction="y" radius="${0.02+safety_distance}" length="0.1" />
</self_collision_geometries>
</xacro:ee_link_with_sc>
<!-- Define the ${ee_id}_tcp frame -->
<link name="${ee_prefix}${ee_id}_tcp" />
<joint name="${ee_prefix}${ee_id}_tcp_joint" type="fixed">
<origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
<parent link="${ee_prefix}${ee_id}" />
<child link="${ee_prefix}${ee_id}_tcp" />
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hand">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<xacro:macro name="franka_hand" params="connected_to:='' arm_id arm_prefix:='' ee_id ee_inertials rpy_ee:='0 0 0' xyz_ee:='0 0 0' tcp_xyz:='0 0 0.1034' tcp_rpy:='0 0 0' safety_distance:=0 gazebo:=false description_pkg:=franka_description with_sc:=false">
<xacro:property name="ee_prefix" default="robot_"/>
<xacro:unless value="${arm_id == ''}">
<xacro:property name="ee_prefix" value="${arm_prefix}${arm_id}_" />
</xacro:unless>
<xacro:unless value="${connected_to == ''}">
<joint name="${ee_prefix}hand_joint" type="fixed">
<parent link="${connected_to}" />
<child link="${ee_prefix}hand" />
<origin xyz="${xyz_ee}" rpy="${rpy_ee}" />
</joint>
</xacro:unless>
<xacro:ee_link_with_sc name="hand" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 0.04" direction="y" radius="${0.04+safety_distance}" length="0.1" />
<xacro:collision_capsule xyz="0 0 0.10" direction="y" radius="${0.02+safety_distance}" length="0.1" />
</self_collision_geometries>
</xacro:ee_link_with_sc>
<!-- Define the hand_tcp frame -->
<link name="${ee_prefix}hand_tcp" />
<joint name="${ee_prefix}hand_tcp_joint" type="fixed">
<origin xyz="${tcp_xyz}" rpy="${tcp_rpy}" />
<parent link="${ee_prefix}hand" />
<child link="${ee_prefix}hand_tcp" />
</joint>
<link name="${ee_prefix}leftfinger">
<visual name="${ee_prefix}leftfinger_visual">
<geometry>
<mesh filename="package://${description_pkg}/meshes/robot_ee/${ee_id}/visual/finger.dae" />
</geometry>
</visual>
<!-- screw mount -->
<collision>
<origin xyz="0 18.5e-3 11e-3" rpy="0 0 0" />
<geometry>
<box size="22e-3 15e-3 20e-3" />
</geometry>
</collision>
<!-- cartriage sledge -->
<collision>
<origin xyz="0 6.8e-3 2.2e-3" rpy="0 0 0" />
<geometry>
<box size="22e-3 8.8e-3 3.8e-3" />
</geometry>
</collision>
<!-- diagonal finger -->
<collision>
<origin xyz="0 15.9e-3 28.35e-3" rpy="${pi/6} 0 0" />
<geometry>
<box size="17.5e-3 7e-3 23.5e-3" />
</geometry>
</collision>
<!-- rubber tip with which to grasp -->
<collision>
<origin xyz="0 7.58e-3 45.25e-3" rpy="0 0 0" />
<geometry>
<box size="17.5e-3 15.2e-3 18.5e-3" />
</geometry>
</collision>
<xacro:if value="${gazebo}">
<xacro:ee-inertials name="leftfinger" />
</xacro:if>
</link>
<link name="${ee_prefix}rightfinger">
<visual name="${ee_prefix}rightfinger_visual">
<origin xyz="0 0 0" rpy="0 0 ${pi}" />
<geometry>
<mesh filename="package://${description_pkg}/meshes/robot_ee/${ee_id}/visual/finger.dae" />
</geometry>
</visual>
<!-- screw mount -->
<collision>
<origin xyz="0 -18.5e-3 11e-3" rpy="0 0 0" />
<geometry>
<box size="22e-3 15e-3 20e-3" />
</geometry>
</collision>
<!-- cartriage sledge -->
<collision>
<origin xyz="0 -6.8e-3 2.2e-3" rpy="0 0 0" />
<geometry>
<box size="22e-3 8.8e-3 3.8e-3" />
</geometry>
</collision>
<!-- diagonal finger -->
<collision>
<origin xyz="0 -15.9e-3 28.35e-3" rpy="${-pi/6} 0 0" />
<geometry>
<box size="17.5e-3 7e-3 23.5e-3" />
</geometry>
</collision>
<!-- rubber tip with which to grasp -->
<collision>
<origin xyz="0 -7.58e-3 45.25e-3" rpy="0 0 0" />
<geometry>
<box size="17.5e-3 15.2e-3 18.5e-3" />
</geometry>
</collision>
<xacro:if value="${gazebo}">
<xacro:ee-inertials name="rightfinger" />
</xacro:if>
</link>
<joint name="${ee_prefix}finger_joint1" type="prismatic">
<parent link="${ee_prefix}hand" />
<child link="${ee_prefix}leftfinger" />
<origin xyz="0 0 0.0584" rpy="0 0 0" />
<axis xyz="0 1 0" />
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2" />
<dynamics damping="0.3" />
</joint>
<joint name="${ee_prefix}finger_joint2" type="prismatic">
<parent link="${ee_prefix}hand" />
<child link="${ee_prefix}rightfinger" />
<origin xyz="0 0 0.0584" rpy="0 0 0" />
<axis xyz="0 -1 0" />
<limit effort="100" lower="0.0" upper="0.04" velocity="0.2" />
<mimic joint="${ee_prefix}finger_joint1" />
<dynamics damping="0.3" />
</joint>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- ============================================================== -->
<!-- Macro to add an <inertial> tag based on yaml-load properties -->
<!-- -->
<!-- name: Name of the end_effector (without prefix) -->
<!-- ee_inertials: Dictionary of inertia properties (see inertial.yaml) -->
<!-- ============================================================== -->
<xacro:macro name="ee-inertials" params="name ee_inertials:=^">
<xacro:unless value="${name in ee_inertials}">${xacro.warning('No inertia properties defined for: ' + name)}</xacro:unless>
<xacro:if value="${name in ee_inertials}">
<!-- Access inertia properties of link 'name' -->
<xacro:property name="link_inertials" value="${ee_inertials[name]}" lazy_eval="false" />
<inertial>
<origin rpy="${link_inertials.origin.rpy}" xyz="${link_inertials.origin.xyz}" />
<mass value="${link_inertials.mass}" />
<xacro:if value="${'inertia' in link_inertials}">
<xacro:property name="I" value="${link_inertials.inertia}" />
<inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}" iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
</xacro:if>
</inertial>
</xacro:if>
</xacro:macro>
<!-- ========================================================== -->
<!-- Macro to add a single link, both with -->
<!-- * detailed meshes for environmental collision checking -->
<!-- * and coarse geometry models for self-collision checking -->
<!-- (only if 'gazebo' param is set) -->
<!-- -->
<!-- name: Name of the end-effector (without prefix) -->
<!-- rpy: Rotation of the *_sc link relative to parent [rad] -->
<!-- self_collision_geometries: self <collision> models -->
<!-- ========================================================== -->
<xacro:macro name="ee_link_with_sc" params="name prefix=${ee_prefix} rpy:='0 0 0' **self_collision_geometries gazebo:=false with_sc:=false">
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="${prefix}${name}">
<visual name="${prefix}${name}_visual">
<geometry>
<mesh filename="package://${description_pkg}/meshes/robot_ee/${ee_id}/visual/${name}.dae" />
</geometry>
</visual>
<collision name="${prefix}${name}_collision">
<geometry>
<mesh filename="package://franka_description/meshes/robot_ee/${ee_id}/collision/${name}.stl" />
</geometry>
</collision>
<xacro:ee-inertials name="${name}" />
</link>
<!-- sub-link defining coarse geometries of real end-effector's internal self-collision -->
<xacro:if value="${with_sc}">
<link name="${prefix}${name}_sc">
<xacro:unless value="${gazebo}">
<xacro:insert_block name="self_collision_geometries" />
</xacro:unless>
</link>
<!-- fixed joint between both sub-links -->
<joint name="${prefix}${name}_sc_joint" type="fixed">
<origin rpy="${rpy}" />
<parent link="${prefix}${name}" />
<child link="${prefix}${name}_sc" />
</joint>
</xacro:if>
</xacro:macro>
<!-- =========================================================== -->
<!-- Add a <collision> tag with a capsule, made from a cylinder -->
<!-- with two spheres at its caps. The capsule will always be -->
<!-- aligned with the axis of 'direction' you pass along. -->
<!-- -->
<!-- radius: Radii of both the cylinder and both spheres [m] -->
<!-- length: Length of the cylinder/distance between the centers -->
<!-- of the spheres. NOT overall length of capsule! -->
<!-- xyz: Position of the center of the capsule/cylinder -->
<!-- direction: One of { x, y, z, -x, -y, -z } -->
<!-- =========================================================== -->
<xacro:macro name="collision_capsule" params="radius length xyz:='0 0 0' direction:='z'">
<xacro:property name="r" value="${pi/2.0 if 'y' in direction else 0}" />
<xacro:property name="p" value="${pi/2.0 if 'x' in direction else 0}" />
<xacro:property name="y" value="0" />
<xacro:property name="x" value="${xyz.split(' ')[0]}" />
<xacro:property name="y" value="${xyz.split(' ')[1]}" />
<xacro:property name="z" value="${xyz.split(' ')[2]}" />
<!-- Sphere center offsets from center of cylinder -->
<xacro:property name="sx" value="${length / 2.0 if 'x' in direction else 0}" />
<xacro:property name="sy" value="${length / 2.0 if 'y' in direction else 0}" />
<xacro:property name="sz" value="${length / 2.0 if 'z' in direction else 0}" />
<collision>
<origin xyz="${x} ${y} ${z}" rpy="${r} ${p} ${y}"/>
<geometry>
<cylinder radius="${radius}" length="${length}" />
</geometry>
</collision>
<collision>
<origin xyz="${x+sx} ${y+sy} ${z+sz}" />
<geometry>
<sphere radius="${radius}" />
</geometry>
</collision>
<collision>
<origin xyz="${x-sx} ${y-sy} ${z-sz}" />
<geometry>
<sphere radius="${radius}" />
</geometry>
</collision>
</xacro:macro>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="franka_hand">
<xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/>
<xacro:include filename="$(find franka_description)/end_effectors/franka_hand/franka_hand_arguments.xacro"/>
<xacro:franka_hand connected_to="$(arg special_connection)"
arm_id="$(arg arm_id)"
ee_id="$(arg ee_id)_$(arg ee_color)"
ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
safety_distance="$(arg safety_distance)"
gazebo="$(arg gazebo)"
description_pkg="$(arg description_pkg)"
with_sc="$(arg with_sc)">
</xacro:franka_hand>
</robot>

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<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Name for the robot -->
<xacro:arg name="arm_id" default="fr3" />
<!-- End-effector id" -->
<xacro:arg name="ee_id" default="franka_hand" />
<!-- End-effector color" -->
<xacro:arg name="ee_color" default="white" />
<!-- Where is the end-effector connected to, if different from the robot flange? -->
<xacro:arg name="special_connection" default="" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Position offset between ee and parent frame -->
<xacro:arg name="xyz_ee" default="0 0 0" />
<!-- Rotation offset between ee and parent frame -->
<xacro:arg name="rpy_ee" default= "0 0 ${-pi/4}" />
<!-- Position offset between ee frame and tcp frame -->
<xacro:arg name="tcp_xyz" default="0 0 0.1034" />
<!-- Rotation offset between ee frame and tcp frame -->
<xacro:arg name="tcp_rpy" default="0 0 0" />
<!-- Safety distance for the collision capsules -->
<xacro:arg name="safety_distance" default="0.03" />
<!-- Is the robot being simulated in gazebo? -->
<xacro:arg name="gazebo" default="false" />
<!-- Name of the description package -->
<xacro:arg name="description_pkg" default="franka_description" />
</robot>

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hand:
origin:
xyz: -0.01 0 0.03
rpy: 0 0 0
mass: 0.73
inertia:
xx: 0.001
yy: 0.0025
zz: 0.0017
xy: 0
xz: 0
yz: 0
leftfinger: &finger
origin:
xyz: 0 0 0
rpy: 0 0 0
mass: 0.015
inertia:
xx: 2.3749999999999997e-06
yy: 2.3749999999999997e-06
zz: 7.5e-07
xy: 0
xz: 0
yz: 0
rightfinger: *finger

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# Copyright (c) 2023 Franka Robotics GmbH
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import xacro
from ament_index_python.packages import get_package_share_directory
from launch_ros.actions import Node
from launch import LaunchContext, LaunchDescription
from launch.actions import DeclareLaunchArgument, OpaqueFunction
from launch.substitutions import LaunchConfiguration
def robot_state_publisher_spawner(context: LaunchContext, arm_id, load_gripper, ee_id):
arm_id_str = context.perform_substitution(arm_id)
load_gripper_str = context.perform_substitution(load_gripper)
ee_id_str = context.perform_substitution(ee_id)
franka_xacro_filepath = os.path.join(
get_package_share_directory("franka_description"),
"robots",
arm_id_str,
arm_id_str + ".urdf.xacro",
)
robot_description = xacro.process_file(
franka_xacro_filepath, mappings={"hand": load_gripper_str, "ee_id": ee_id_str}
).toprettyxml(indent=" ")
return [
Node(
package="robot_state_publisher",
executable="robot_state_publisher",
name="robot_state_publisher",
output="screen",
parameters=[{"robot_description": robot_description}],
)
]
def generate_launch_description():
load_gripper_parameter_name = "load_gripper"
load_gripper = LaunchConfiguration(load_gripper_parameter_name)
ee_id_parameter_name = "ee_id"
ee_id = LaunchConfiguration(ee_id_parameter_name)
arm_id_parameter_name = "arm_id"
arm_id = LaunchConfiguration(arm_id_parameter_name)
rviz_file = os.path.join(
get_package_share_directory("franka_description"),
"rviz",
"visualize_franka.rviz",
)
robot_state_publisher_spawner_opaque_function = OpaqueFunction(
function=robot_state_publisher_spawner, args=[arm_id, load_gripper, ee_id]
)
return LaunchDescription(
[
DeclareLaunchArgument(
load_gripper_parameter_name,
default_value="true",
description="Use end-effector if true. Default value is franka hand. "
"Robot is loaded without end-effector otherwise",
),
DeclareLaunchArgument(
ee_id_parameter_name,
default_value="franka_hand",
description="ID of the type of end-effector used. Supporter values: "
"none, franka_hand, cobot_pump",
),
DeclareLaunchArgument(
arm_id_parameter_name,
description="ID of the type of arm used. Supporter values: "
"fer, fr3, fp3",
),
robot_state_publisher_spawner_opaque_function,
Node(
package="joint_state_publisher_gui",
executable="joint_state_publisher_gui",
name="joint_state_publisher_gui",
),
Node(
package="rviz2",
executable="rviz2",
name="rviz2",
arguments=["--display-config", rviz_file],
),
]
)

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>franka_description</name>
<version>0.4.0</version>
<description>franka_description contains URDF files and meshes of Franka robots</description>
<maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
<license>Apache 2.0</license>
<author>Franka Robotics GmbH</author>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_cmake_pytest</test_depend>
<exec_depend>xacro</exec_depend>
<exec_depend>rviz2</exec_depend>
<exec_depend>joint_state_publisher_gui</exec_depend>
<export>
<build_type>ament_cmake</build_type>
<gazebo_ros gazebo_model_path="${prefix}"/>
</export>
</package>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="franka_arm_ros2_control"
params="arm_id
robot_ip
use_fake_hardware:=^|false
fake_sensor_commands:=^|false
gazebo:=^|false
hand:=^|false
gazebo_effort:=^|false
arm_prefix:=''
multi_arm:=false">
<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<ros2_control name="${arm_prefix_modified}FrankaHardwareInterface" type="system">
<hardware>
<param name="arm_id">${arm_id}</param>
<param name="prefix">${arm_prefix}</param>
<xacro:if value="${use_fake_hardware}">
<plugin>fake_components/GenericSystem</plugin>
<param name="fake_sensor_commands">${fake_sensor_commands}</param>
<param name="state_following_offset">0.0</param>
</xacro:if>
<xacro:if value="${gazebo}">
<plugin>franka_ign_ros2_control/IgnitionSystem</plugin>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 0}">
<plugin>franka_hardware/FrankaHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="arm_prefix">${arm_prefix}</param>
</xacro:if>
<xacro:if value="${use_fake_hardware == 0 and gazebo == 0 and multi_arm == 1}">
<plugin>franka_hardware/MultiFrankaHardwareInterface</plugin>
<param name="robot_ip">${robot_ip}</param>
<param name="arm_prefix">${arm_prefix}</param>
</xacro:if>
</hardware>
<xacro:macro name="configure_joint" params="joint_name initial_position">
<joint name="${joint_name}">
<!--
deactivated for gazebo velocity and position interface due to a bug
https://github.com/ros-controls/gz_ros2_control/issues/343
Command Interfaces -->
<xacro:if value="${multi_arm == 0}">
<command_interface name="position"/>
<command_interface name="velocity"/>
</xacro:if>
<xacro:if value="${gazebo == 0 or gazebo_effort == 1}">
<command_interface name="effort"/>
</xacro:if>
<!-- State Interfaces -->
<state_interface name="position">
<param name="initial_value">${initial_position}</param>
</state_interface>
<state_interface name="velocity"/>
<param name="initial_value">0.0</param>
<state_interface name="effort"/>
</joint>
</xacro:macro>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint1" initial_position="0.0"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint2" initial_position="${-pi/4}"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint3" initial_position="0.0"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint4" initial_position="${-3*pi/4}"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint5" initial_position="0.0"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint6" initial_position="${pi/2}"/>
<xacro:configure_joint joint_name="${arm_prefix_modified}${arm_id}_joint7" initial_position="${pi/4}"/>
<xacro:if value="${gazebo and hand}">
<xacro:configure_joint joint_name="${arm_id}_finger_joint1" initial_position="0.0" />
</xacro:if>
</ros2_control>
<xacro:if value="${gazebo}">
<gazebo>
<plugin filename="franka_ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<parameters>$(find franka_gazebo_bringup)/config/franka_gazebo_controllers.yaml</parameters>
</plugin>
</gazebo>
</xacro:if>
</xacro:macro>
</robot>

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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
<xacro:macro name="franka_arm" params="arm_id arm_prefix:='' no_prefix:=false description_pkg:='franka_description' connected_to:='base' xyz:='0 0 0' rpy:='0 0 0' gazebo:='false' safety_distance:=0 joint_limits inertials kinematics dynamics with_sc:=false" >
<!-- Define a property that defaults to 'arm_prefix_arm_id' concatenated with an underscore if 'no_prefix' is not set -->
<xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />
<xacro:if value="${gazebo}">
<xacro:property name="connected_to" value="" />
</xacro:if>
<xacro:unless value="${not connected_to}">
<link name="${connected_to}">
</link>
<joint name="${prefix}${connected_to}_joint" type="fixed">
<parent link="${connected_to}"/>
<child link="${prefix}link0"/>
<origin rpy="${rpy}" xyz="${xyz}"/>
</joint>
</xacro:unless>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link0" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="-0.075 0 0.06" direction="x" radius="${0.06+safety_distance}" length="0.03" />
</self_collision_geometries>
</xacro:link_with_sc>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link1" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 -191.5e-3" radius="${0.06+safety_distance}" length="0.283" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint1" type="revolute">
<xacro:franka-kinematics name="joint1" config="${kinematics}" />
<parent link="${prefix}link0" />
<child link="${prefix}link1" />
<axis xyz="0 0 1" />
<xacro:franka-limits name="joint1" config="${joint_limits}" />
<xacro:franka-dynamics name="joint1" config="${dynamics}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link2" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 0" radius="${0.06+safety_distance}" length="0.12" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint2" type="revolute">
<xacro:franka-kinematics name="joint2" config="${kinematics}" />
<parent link="${prefix}link1" />
<child link="${prefix}link2" />
<axis xyz="0 0 1" />
<xacro:franka-limits name="joint2" config="${joint_limits}" />
<xacro:franka-dynamics name="joint2" config="${dynamics}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link3" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 -0.145" radius="${0.06+safety_distance}" length="0.15" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint3" type="revolute">
<xacro:franka-kinematics name="joint3" config="${kinematics}" />
<parent link="${prefix}link2" />
<child link="${prefix}link3" />
<axis xyz="0 0 1" />
<xacro:franka-limits name="joint3" config="${joint_limits}" />
<xacro:franka-dynamics name="joint3" config="${dynamics}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link4" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 0" radius="${0.06+safety_distance}" length="0.12" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint4" type="revolute">
<xacro:franka-kinematics name="joint4" config="${kinematics}" />
<parent link="${prefix}link3" />
<child link="${prefix}link4" />
<axis xyz="0 0 1" />
<xacro:franka-limits name="joint4" config="${joint_limits}" />
<xacro:franka-dynamics name="joint4" config="${dynamics}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link5" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 -0.26" radius="${0.060+safety_distance}" length="0.10" />
<xacro:collision_capsule xyz="0 0.08 -0.13" radius="${0.025+safety_distance}" length="0.14" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint5" type="revolute">
<xacro:franka-kinematics name="joint5" config="${kinematics}" />
<parent link="${prefix}link4" />
<child link="${prefix}link5" />
<axis xyz="0 0 1" />
<xacro:franka-limits name="joint5" config="${joint_limits}" />
<xacro:franka-dynamics name="joint5" config="${dynamics}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link6" gazebo="${gazebo}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 -0.03" radius="${0.05+safety_distance}" length="0.08" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint6" type="revolute">
<xacro:franka-kinematics name="joint6" config="${kinematics}" />
<parent link="${prefix}link5" />
<child link="${prefix}link6" />
<axis xyz="0 0 1" />
<xacro:franka-limits name="joint6" config="${joint_limits}" />
<xacro:franka-dynamics name="joint6" config="${dynamics}" />
</joint>
<xacro:link_with_sc no_prefix="${no_prefix}" name="link7" gazebo="${gazebo}" rpy="0 0 ${pi/4}" with_sc="${with_sc}">
<self_collision_geometries>
<xacro:collision_capsule xyz="0 0 0.01" direction="z" radius="${0.04+safety_distance}" length="0.14" />
<xacro:collision_capsule xyz="0.06 0 0.082" direction="x" radius="${0.03+safety_distance}" length="0.01" />
</self_collision_geometries>
</xacro:link_with_sc>
<joint name="${prefix}joint7" type="revolute">
<xacro:franka-kinematics name="joint7" config="${kinematics}" />
<parent link="${prefix}link6"/>
<child link="${prefix}link7"/>
<axis xyz="0 0 1"/>
<xacro:franka-limits name="joint7" config="${joint_limits}" />
<xacro:franka-dynamics name="joint7" config="${dynamics}" />
</joint>
<link name="${prefix}link8"/>
<joint name="${prefix}joint8" type="fixed">
<xacro:franka-kinematics name="joint8" config="${kinematics}" />
<parent link="${prefix}link7" />
<child link="${prefix}link8" />
</joint>
</xacro:macro>
</robot>

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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="franka_robot"
params="arm_id
joint_limits
kinematics
inertials
dynamics
parent:='world'
xyz:='0 0 0'
rpy:='0 0 0'
hand:='true'
ee_id:=none
gazebo:='false'
with_sc:='false'
ros2_control:=false
robot_ip:=''
use_fake_hardware:=false
fake_sensor_commands:=false
gazebo_effort:=false
no_prefix:='false'
arm_prefix:=''
connected_to:='base'
multi_arm:=false">
<xacro:include filename="$(find franka_description)/robots/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/robots/common/franka_arm.xacro" />
<xacro:property name="arm_prefix_modified" value="${'' if arm_prefix == '' else arm_prefix + '_'}" />
<xacro:franka_arm
arm_id="${arm_id}"
arm_prefix="${arm_prefix_modified}"
no_prefix="${no_prefix}"
xyz="${xyz}"
rpy="${rpy}"
safety_distance="0.03"
gazebo="${gazebo}"
joint_limits="${joint_limits}"
kinematics="${kinematics}"
inertials="${inertials}"
dynamics="${dynamics}"
with_sc="${with_sc}"
connected_to="${connected_to}"
/>
<xacro:if value="${hand and ee_id == 'franka_hand'}">
<xacro:include filename="$(find franka_description)/end_effectors/common/franka_hand.xacro"/>
<xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/end_effectors/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
<xacro:if value="${arm_id == 'fp3'}">
<xacro:property name="ee_color" value="black" />
</xacro:if>
<xacro:if value="${arm_id == 'fr3' or arm_id == 'fer'}">
<xacro:property name="ee_color" value="white" />
</xacro:if>
<xacro:property name="special_connection" value="$(arg special_connection)" />
<xacro:property name="connection" value="${special_connection if special_connection != '' else arm_id + '_link8'}" />
<xacro:franka_hand
connected_to="${arm_prefix_modified}${connection}"
arm_id="${arm_id}"
arm_prefix="${arm_prefix_modified}"
ee_id="${ee_id}_${ee_color}"
ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
safety_distance="$(arg safety_distance)"
gazebo="${gazebo}"
description_pkg="$(arg description_pkg)"
with_sc="${with_sc}"
/>
</xacro:if>
<xacro:if value="${hand and ee_id != 'none' and ee_id != 'franka_hand'}">
<xacro:include filename="$(find franka_description)/end_effectors/common/ee_with_one_link.xacro"/>
<xacro:include filename="$(find franka_description)/end_effectors/common/utils.xacro" />
<xacro:include filename="$(find franka_description)/end_effectors/$(arg ee_id)/$(arg ee_id)_arguments.xacro" />
<xacro:property name="special_connection" value="$(arg special_connection)" />
<xacro:property name="connection" value="${special_connection if special_connection == '' else arm_id + '_link8'}" />
<xacro:ee_with_one_link
connected_to="${arm_prefix_modified}${connection}"
arm_id="${arm_id}"
arm_prefix="${arm_prefix_modified}"
ee_id="${ee_id}"
ee_inertials="${xacro.load_yaml('$(find franka_description)/end_effectors/$(arg ee_id)/inertials.yaml')}"
rpy_ee="$(arg rpy_ee)"
xyz_ee="$(arg xyz_ee)"
tcp_xyz="$(arg tcp_xyz)"
tcp_rpy="$(arg tcp_rpy)"
safety_distance="$(arg safety_distance)"
gazebo="${gazebo}"
description_pkg="$(arg description_pkg)"
with_sc="${with_sc}"
/>
</xacro:if>
<!-- Definition of additional Gazebo tags -->
<xacro:if value="${gazebo}">
<xacro:if value="${parent != ''}">
<!-- Gazebo requires a joint to a link called "world" for statically mounted robots -->
<xacro:if value="${parent == 'world'}">
<link name="${parent}" />
</xacro:if>
<joint name="${parent}_joint" type="fixed">
<origin xyz="${xyz}" rpy="${rpy}" />
<parent link="${parent}" />
<child link="${arm_id}_link0" />
</joint>
</xacro:if>
<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/PositionJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/VelocityJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint2" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint3" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint4" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint5" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint6" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_joint7" transmission="hardware_interface/EffortJointInterface" />
<xacro:transmission-franka-state arm_id="${arm_id}" />
<xacro:transmission-franka-model arm_id="${arm_id}"
root="${arm_id}_joint1"
tip="${arm_id}_joint8"
/>
<xacro:if value="${ee_id == 'franka_hand'}">
<xacro:gazebo-joint joint="${arm_id}_finger_joint1" transmission="hardware_interface/EffortJointInterface" />
<xacro:gazebo-joint joint="${arm_id}_finger_joint2" transmission="hardware_interface/EffortJointInterface" />
<!-- Friction specific material for Rubber/Rubber contact -->
<xacro:gazebo-friction link="${arm_id}_leftfinger" mu="1.13" />
<xacro:gazebo-friction link="${arm_id}_rightfinger" mu="1.13" />
</xacro:if>
</xacro:if>
<xacro:if value="${ros2_control}">
<xacro:include filename="$(find franka_description)/robots/common/franka_arm.ros2_control.xacro"/>
<xacro:franka_arm_ros2_control
arm_id="${arm_id}"
robot_ip="${robot_ip}"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gazebo="$(arg gazebo)"
hand="$(arg hand)"
gazebo_effort="$(arg gazebo_effort)"
arm_prefix="${arm_prefix}"
multi_arm="$(arg multi_arm)"
/>
</xacro:if>
</xacro:macro>
</robot>

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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- ============================================================== -->
<!-- Macro to add an <inertial> tag based on yaml-load properties -->
<!-- -->
<!-- name: Name of the robot link (without prefix) -->
<!-- inertial: Dictionary of inertia properties (see inertial.yaml) -->
<!-- ============================================================== -->
<xacro:macro name="franka-inertials" params="name inertials:=^">
<xacro:unless value="${name in inertials}">${xacro.warning('No inertia properties defined for: ' + name)}</xacro:unless>
<xacro:if value="${name in inertials}">
<!-- Access inertia properties of link 'name' -->
<xacro:property name="link_inertials" value="${inertials[name]}" lazy_eval="false" />
<inertial>
<origin rpy="${link_inertials.origin.rpy}" xyz="${link_inertials.origin.xyz}" />
<mass value="${link_inertials.mass}" />
<xacro:if value="${'inertia' in link_inertials}">
<xacro:property name="I" value="${link_inertials.inertia}" />
<inertia ixx="${I.xx}" ixy="${I.xy}" ixz="${I.xz}" iyy="${I.yy}" iyz="${I.yz}" izz="${I.zz}" />
</xacro:if>
</inertial>
</xacro:if>
</xacro:macro>
<!-- ========================================================== -->
<!-- Macro to add a single link, both with -->
<!-- * detailed meshes for environmental collision checking -->
<!-- * and coarse geometry models for self-collision checking -->
<!-- (only if 'gazebo' param is set) -->
<!-- -->
<!-- name: Name of the robot link (without prefix) -->
<!-- rpy: Rotation of the *_sc link relative to parent [rad] -->
<!-- self_collision_geometries: self <collision> models -->
<!-- ========================================================== -->
<xacro:macro name="link_with_sc" params="name no_prefix:='false' rpy:='0 0 0' **self_collision_geometries gazebo:=false with_sc:=false">
<xacro:property name="prefix" value="${'' if no_prefix else arm_prefix + arm_id + '_'}" />
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="${prefix}${name}">
<visual name="${prefix}${name}_visual">
<geometry>
<mesh filename="package://${description_pkg}/meshes/robot_arms/${arm_id}/visual/${name}.dae" />
</geometry>
</visual>
<collision name="${prefix}${name}_collision">
<geometry>
<mesh filename="package://franka_description/meshes/robot_arms/${arm_id}/collision/${name}.stl" />
</geometry>
</collision>
<xacro:franka-inertials name="${name}" />
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<xacro:if value="${with_sc}">
<link name="${prefix}${name}_sc">
<xacro:unless value="${gazebo}">
<xacro:insert_block name="self_collision_geometries" />
</xacro:unless>
</link>
<!-- fixed joint between both sub-links -->
<joint name="${prefix}${name}_sc_joint" type="fixed">
<origin rpy="${rpy}" />
<parent link="${prefix}${name}" />
<child link="${prefix}${name}_sc" />
</joint>
</xacro:if>
</xacro:macro>
<!-- =========================================================== -->
<!-- Add a <collision> tag with a capsule, made from a cylinder -->
<!-- with two spheres at its caps. The capsule will always be -->
<!-- aligned with the axis of 'direction' you pass along. -->
<!-- -->
<!-- radius: Radii of both the cylinder and both spheres [m] -->
<!-- length: Length of the cylinder/distance between the centers -->
<!-- of the spheres. NOT overall length of capsule! -->
<!-- xyz: Position of the center of the capsule/cylinder -->
<!-- direction: One of { x, y, z, -x, -y, -z } -->
<!-- =========================================================== -->
<xacro:macro name="collision_capsule" params="radius length xyz:='0 0 0' direction:='z'">
<xacro:property name="r" value="${pi/2.0 if 'y' in direction else 0}" />
<xacro:property name="p" value="${pi/2.0 if 'x' in direction else 0}" />
<xacro:property name="y" value="0" />
<xacro:property name="x" value="${xyz.split(' ')[0]}" />
<xacro:property name="y" value="${xyz.split(' ')[1]}" />
<xacro:property name="z" value="${xyz.split(' ')[2]}" />
<!-- Sphere center offsets from center of cylinder -->
<xacro:property name="sx" value="${length / 2.0 if 'x' in direction else 0}" />
<xacro:property name="sy" value="${length / 2.0 if 'y' in direction else 0}" />
<xacro:property name="sz" value="${length / 2.0 if 'z' in direction else 0}" />
<collision>
<origin xyz="${x} ${y} ${z}" rpy="${r} ${p} ${y}"/>
<geometry>
<cylinder radius="${radius}" length="${length}" />
</geometry>
</collision>
<collision>
<origin xyz="${x+sx} ${y+sy} ${z+sz}" />
<geometry>
<sphere radius="${radius}" />
</geometry>
</collision>
<collision>
<origin xyz="${x-sx} ${y-sy} ${z-sz}" />
<geometry>
<sphere radius="${radius}" />
</geometry>
</collision>
</xacro:macro>
<!-- ========================================================== -->
<!-- Adds the required tags to simulate one joint in gazebo -->
<!-- -->
<!-- joint - Name of the fer joint to simulate -->
<!-- transmission - type of the transmission of the joint -->
<!-- ========================================================== -->
<xacro:macro name="gazebo-joint" params="joint transmission:=hardware_interface/EffortJointInterface">
<gazebo reference="${joint}">
<!-- Needed for ODE to output external wrenches on joints -->
<provideFeedback>true</provideFeedback>
</gazebo>
<transmission name="${joint}_transmission">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint}">
<hardwareInterface>${transmission}</hardwareInterface>
</joint>
<actuator name="${joint}_motor">
<hardwareInterface>${transmission}</hardwareInterface>
</actuator>
</transmission>
</xacro:macro>
<xacro:macro name="gazebo-friction" params="link mu">
<gazebo reference="${link}">
<collision>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode>
<!-- These two parameter need application specific tuning. -->
<!-- Usually you want no "snap out" velocity and a generous -->
<!-- penetration depth to keep the grasping stable -->
<max_vel>0</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode>
<mu>${mu}</mu>
<mu2>${mu}</mu2>
</ode>
</friction>
<bounce/>
</surface>
</collision>
</gazebo>
</xacro:macro>
<!-- ========================================================== -->
<!-- Adds the required tags to provide a `FrankaStateInterface` -->
<!-- when simulating with franka_hw_sim plugin -->
<!-- -->
<!-- arm_id - Arm ID of the fer to simulate (default 'fer') -->
<!-- ========================================================== -->
<xacro:macro name="transmission-franka-state" params="arm_id:=fer">
<transmission name="${arm_prefix}${arm_id}_franka_state">
<type>franka_hw/FrankaStateInterface</type>
<joint name="${arm_prefix}${arm_id}_joint1"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_id}_joint2"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_id}_joint3"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_id}_joint4"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_id}_joint5"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_id}_joint6"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<joint name="${arm_prefix}${arm_id}_joint7"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></joint>
<actuator name="${arm_prefix}${arm_id}_motor1"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_id}_motor2"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_id}_motor3"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_id}_motor4"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_id}_motor5"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_id}_motor6"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
<actuator name="${arm_prefix}${arm_id}_motor7"><hardwareInterface>franka_hw/FrankaStateInterface</hardwareInterface></actuator>
</transmission>
</xacro:macro>
<!-- ============================================================ -->
<!-- Adds the required tags to provide a `FrankaModelInterface` -->
<!-- when simulating with franka_hw_sim plugin -->
<!-- -->
<!-- arm_id - Arm ID of the fer to simulate (default 'fer') -->
<!-- root - Joint name of the base of the robot -->
<!-- tip - Joint name of the tip of the robot (flange or hand) -->
<!-- ============================================================ -->
<xacro:macro name="transmission-franka-model" params="arm_id:=fer root:=fer_joint1 tip:=fer_joint7">
<transmission name="${arm_prefix}${arm_id}_franka_model">
<type>franka_hw/FrankaModelInterface</type>
<joint name="${root}">
<role>root</role>
<hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface>
</joint>
<joint name="${tip}">
<role>tip</role>
<hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface>
</joint>
<actuator name="${root}_motor_root"><hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface></actuator>
<actuator name="${tip}_motor_tip" ><hardwareInterface>franka_hw/FrankaModelInterface</hardwareInterface></actuator>
</transmission>
</xacro:macro>
<xacro:macro name="inertia-cylinder" params="mass radius h">
<inertial>
<mass value="${mass}" />
<inertia ixx="${1./12 * mass * (3 * radius**2 + h**2)}" ixy = "0" ixz = "0"
iyy="${1./12 * mass * (3 * radius**2 + h**2)}" iyz = "0"
izz="${1./2 * mass * radius**2}" />
</inertial>
</xacro:macro>
<!-- ========================================================================= -->
<!-- Adds the <limit ... /> & <safety_controller/> tags given a config file -->
<!-- of joint limits -->
<!-- -->
<!-- config - YAML struct defining joint limits (e.g. fer/joint_limits.yaml) -->
<!-- name - Name of the joint for which to add limits to -->
<!-- ========================================================================= -->
<xacro:macro name="franka-limits" params="config name">
<xacro:property name="limits" value="${config[name]['limit']}" lazy_eval="false" />
<limit lower="${limits.lower}"
upper="${limits.upper}"
effort="${limits.effort}"
velocity="${limits.velocity}" />
<safety_controller k_position="100.0"
k_velocity="40.0"
soft_lower_limit="${limits.lower}"
soft_upper_limit="${limits.upper}" />
</xacro:macro>
<!-- ========================================================================= -->
<!-- Adds the <dynamics ... /> tag given a config file of joint dynamics -->
<!-- -->
<!-- config - YAML struct defining joint dynamics (e.g. fer/dynamics.yaml) -->
<!-- name - Name of the joint for which to add dynamics to -->
<!-- ========================================================================= -->
<xacro:macro name="franka-dynamics" params="config name">
<xacro:property name="dynamics" value="${config[name]['dynamic']}" lazy_eval="false" />
<dynamics D="${dynamics.D}"
K="${dynamics.K}"
damping="${dynamics.damping}"
friction="${dynamics.friction}"
mu_coulomb="${dynamics.mu_coulomb}"
mu_viscous="${dynamics.mu_viscous}" />
</xacro:macro>
<!-- ========================================================================= -->
<!-- Adds the <kinematics ... /> tag given a config file of joint kinematics -->
<!-- -->
<!-- config - YAML struct defining joint kinematics (e.g. fer/kinematics.yaml) -->
<!-- name - Name of the joint for which to add kinematics to -->
<!-- ========================================================================= -->
<xacro:macro name="franka-kinematics" params="config name">
<xacro:property name="kinematics" value="${config[name]['kinematic']}" lazy_eval="false" />
<origin rpy="${kinematics.roll} ${kinematics.pitch} ${kinematics.yaw}"
xyz="${kinematics.x} ${kinematics.y} ${kinematics.z}" />
</xacro:macro>
</robot>

62
robots/fer/dynamics.yaml Normal file
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joint1:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint2:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint3:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint4:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint5:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint6:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint7:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16

66
robots/fer/fer.urdf.xacro Normal file
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fer">
<xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
<!--
DEPRECATION NOTICE
argument arm_id is no longer supported and will be removed in the future.
This argument is ignored.
-->
<xacro:arg name="arm_id" default="fer" />
<!-- Don't print a prefix for joints, visuals, and links? -->
<xacro:arg name="no_prefix" default="false"/>
<!-- Should an end-effector be mounted at the flange?" -->
<xacro:arg name="hand" default="true" />
<!-- Which end-effector would be mounted at the flange?" -->
<xacro:arg name="ee_id" default="franka_hand" />
<!-- Is the robot being simulated in gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- If `gazebo` arg is set, to which frame shall $(arm_id)_link0 be parented. Empty string for not fixing at all -->
<xacro:arg name="parent" default="world" />
<!-- If `gazebo` arg is set and `parent` not empty, what position offset between `parent` & $(arm_id)_link0 -->
<xacro:arg name="xyz" default="0 0 0" />
<!-- If `gazebo` arg is set and `parent` not empty, what rotation offset between `parent` & $(arm_id)_link0 -->
<xacro:arg name="rpy" default="0 0 0" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Is the robot being controlled with ros2_control?" -->
<xacro:arg name="ros2_control" default="false" />
<!-- IP address or hostname of the robot" -->
<xacro:arg name="robot_ip" default="" />
<!-- Should a fake hardware be used? -->
<xacro:arg name="use_fake_hardware" default="false" />
<!-- Should fake sensors be used? -->
<xacro:arg name="fake_sensor_commands" default="false" />
<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
<xacro:arg name="gazebo_effort" default="false" />
<!-- For a multi arm setup, we need a threaded robot running async-->
<xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fer"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fer/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fer/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fer/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fer/dynamics.yaml')}"
gazebo="$(arg gazebo)"
hand="$(arg hand)"
ee_id="$(arg ee_id)"
with_sc="$(arg with_sc)"
ros2_control="$(arg ros2_control)"
robot_ip="$(arg robot_ip)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gazebo_effort="$(arg gazebo_effort)"
no_prefix="$(arg no_prefix)"
arm_prefix= ""
connected_to= "base">
</xacro:franka_robot>
</robot>

96
robots/fer/inertials.yaml Normal file
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link0:
origin:
xyz: -0.0172 0.0004 0.0745
rpy: 0 0 0
mass: 2.3966
inertia:
xx: 0.0090
xy: 0.0000
xz: 0.0020
yy: 0.0115
yz: 0.0000
zz: 0.0085
link1:
origin:
xyz: 0.00033 -0.02204 -0.04762
rpy: 0 0 0
mass: 2.7907
inertia:
xx: 0.01564782655
xy: 0.00000531236
xz: -0.00003676721
yy: 0.01439883526
yz: -0.00248480843
zz: 0.00500443991
link2:
origin:
xyz: 0.00038 -0.09211 0.01908
rpy: 0 0 0
mass: 2.5420
inertia:
xx: 0.01662427728
xy: 0.00003086077
xz: 0.00000835940
yy: 0.00462501261
yz: 0.00355899830
zz: 0.01545124526
link3:
origin:
xyz: 0.05152 0.01696 -0.02971
rpy: 0 0 0
mass: 2.2513
inertia:
xx: 0.00631741992
xy: 0.00097309955
xz: 0.00292525834
yy: 0.00866285493
yz: 0.00093469224
zz: 0.00657804051
link4:
origin:
xyz: -0.05113 0.05825 0.01698
rpy: 0 0 0
mass: 2.2037
inertia:
xx: 0.00784585566
xy: -0.00339591957
xz: 0.00158704074
yy: 0.00649543136
yz: -0.00181477884
zz: 0.01003079917
link5:
origin:
xyz: -0.00005 0.03730 -0.09280
rpy: 0 0 0
mass: 2.2855
inertia:
xx: 0.02297014781
xy: -0.00000949345
xz: -0.00002063156
yy: 0.02095060919
yz: 0.00382345782
zz: 0.00430606551
link6:
origin:
xyz: 0.06572 -0.00371 0.00153
rpy: 0 0 0
mass: 1.353
inertia:
xx: 0.00087964522
xy: -0.00021487814
xz: -0.00011911662
yy: 0.00277796968
yz: 0.00001274322
zz: 0.00286701969
link7:
origin:
xyz: 0.00089 -0.00044 0.05491
rpy: 0 0 0
mass: 0.35973
inertia:
xx: 0.00019541063
xy: 0.00000165231
xz: 0.00000148826
yy: 0.00019210361
yz: -0.00000131132
zz: 0.00017936256

48
robots/fer/joint_limits.yaml Normal file
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joint1:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.1750
effort: 87.0
joint2:
limit:
lower: -1.7628
upper: 1.7628
velocity: 2.1750
effort: 87.0
joint3:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.1750
effort: 87.0
joint4:
limit:
lower: -3.0718
upper: -0.0698
velocity: 2.1750
effort: 87.0
joint5:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.6100
effort: 12.0
joint6:
limit:
lower: -0.0175
upper: 3.7525
velocity: 2.6100
effort: 12.0
joint7:
limit:
lower: -2.8973
upper: 2.8973
velocity: 2.6100
effort: 12.0

72
robots/fer/kinematics.yaml Normal file
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joint1:
kinematic:
x: 0
y: 0
z: 0.333
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic:
x: 0
y: 0
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint3:
kinematic:
x: 0
y: -0.316
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint4:
kinematic:
x: 0.0825
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint5:
kinematic:
x: -0.0825
y: 0.384
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint6:
kinematic:
x: 0
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint7:
kinematic:
x: 0.088
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
# Joint to tool origin
joint8:
kinematic:
x: 0
y: 0
z: 0.107
roll: 0
pitch: 0
yaw: 0

62
robots/fp3/dynamics.yaml Normal file
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joint1:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint2:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint3:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint4:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint5:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint6:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint7:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16

65
robots/fp3/fp3.urdf.xacro Normal file
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<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fp3">
<xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
<!--
DEPRECATION NOTICE
argument arm_id is no longer supported and will be removed in the future.
This argument is ignored.
-->
<xacro:arg name="arm_id" default="fp3" />
<!-- Don't print a prefix for joints, visuals, and links? -->
<xacro:arg name="no_prefix" default="false"/>
<!-- Should an end-effector be mounted at the flange?" -->
<xacro:arg name="hand" default="true" />
<!-- Which end-effector would be mounted at the flange?" -->
<xacro:arg name="ee_id" default="franka_hand" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Is the robot being controlled with ros2_control?" -->
<xacro:arg name="ros2_control" default="false" />
<!-- IP address or hostname of the robot" -->
<xacro:arg name="robot_ip" default="" />
<!-- Should a fake hardware be used? -->
<xacro:arg name="use_fake_hardware" default="false" />
<!-- Should fake sensors be used? -->
<xacro:arg name="fake_sensor_commands" default="false" />
<!-- Should the robot be spawned in Gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
<xacro:arg name="gazebo_effort" default="false" />
<!-- For a multi arm setup, we need a threaded robot running async-->
<xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fp3"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fp3/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fp3/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fp3/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fp3/dynamics.yaml')}"
gazebo="$(arg gazebo)"
hand="$(arg hand)"
ee_id="$(arg ee_id)"
with_sc="$(arg with_sc)"
ros2_control="$(arg ros2_control)"
robot_ip="$(arg robot_ip)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gazebo_effort="$(arg gazebo_effort)"
no_prefix="$(arg no_prefix)"
arm_prefix= ""
connected_to= "base">
</xacro:franka_robot>
</robot>

97
robots/fp3/inertials.yaml Normal file
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link0:
origin:
xyz: -0.0172 0.0004 0.0745
rpy: 0 0 0
mass: 2.3966
inertia:
xx: 0.0090
xy: 0.0000
xz: 0.0020
yy: 0.0115
yz: 0.0000
zz: 0.0085
link1:
origin:
xyz: 0.0000004128 -0.0181251324 -0.0386035970
rpy: 0 0 0
mass: 2.9274653454
inertia:
inertia:
xx: 0.023927316485107913
xy: 1.3317903455714081e-05
xz: -0.00011404774918616684
yy: 0.0224821613275756
yz: -0.0019950320628240115
zz: 0.006350098258530016
link2:
origin:
xyz: 0.0031828864 -0.0743221644 0.0088146084
rpy: 0 0 0
mass: 2.9355370338
inertia:
xx: 0.041938946257609425
xy: 0.00020257331521090626
xz: 0.004077784227179924
yy: 0.02514514885014724
yz: -0.0042252158006570156
zz: 0.06170214472888839
link3:
origin:
xyz: 0.0407015686 -0.0048200565 -0.0289730823
rpy: 0 0 0
mass: 2.2449013699
inertia:
xx: 0.02410142547240885
xy: 0.002404694559042109
xz: -0.002856269270114313
yy: 0.01974053266708178
yz: -0.002104212683891874
zz: 0.019044494482244823
link4:
origin:
xyz: -0.0459100965 0.0630492960 -0.0085187868
rpy: 0 0 0
mass: 2.6155955791
inertia:
xx: 0.03452998321913202
xy: 0.01322552265982813
xz: 0.01015142998484113
yy: 0.028881621933049058
yz: -0.0009762833870704552
zz: 0.04125471171146641
link5:
origin:
xyz: -0.0016039605 0.0292536262 -0.0972965990
rpy: 0 0 0
mass: 2.3271207594
inertia:
xx: 0.051610278463662895
xy: -0.005715173387783472
xz: -0.0035673167625872135
yy: 0.04787729713371481
yz: 0.010673985108535986
zz: 0.016423625579357254
link6:
origin:
xyz: 0.0597131221 -0.0410294666 -0.0101692726
rpy: 0 0 0
mass: 1.8170376524
inertia:
xx: 0.005412333594383447
xy: 0.006193456360285834
xz: 0.0014219289306117652
yy: 0.014058329545509979
yz: -0.0013140753741120031
zz: 0.016080817924212554
link7:
origin:
xyz: 0.0045225817 0.0086261921 -0.0161633251
rpy: 0 0 0
mass: 0.6271432862
inertia:
xx: 0.00021092389150104718
xy: -2.433299114461931e-05
xz: 4.564480393778983e-05
yy: 0.00017718568002411474
yz: 8.744070223226438e-05
zz: 5.993190599659971e-05

48
robots/fp3/joint_limits.yaml Normal file
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joint1:
limit:
lower: -2.7437
upper: 2.7437
velocity: 2.62
effort: 87.0
joint2:
limit:
lower: -1.7837
upper: 1.7837
velocity: 2.62
effort: 87.0
joint3:
limit:
lower: -2.9007
upper: 2.9007
velocity: 2.62
effort: 87.0
joint4:
limit:
lower: -3.0421
upper: -0.1518
velocity: 2.62
effort: 87.0
joint5:
limit:
lower: -2.8065
upper: 2.8065
velocity: 5.26
effort: 12.0
joint6:
limit:
lower: 0.5445
upper: 4.5169
velocity: 4.18
effort: 12.0
joint7:
limit:
lower: -3.0159
upper: 3.0159
velocity: 5.26
effort: 12.0

72
robots/fp3/kinematics.yaml Normal file
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joint1:
kinematic:
x: 0
y: 0
z: 0.333
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic:
x: 0
y: 0
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint3:
kinematic:
x: 0
y: -0.316
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint4:
kinematic:
x: 0.0825
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint5:
kinematic:
x: -0.0825
y: 0.384
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint6:
kinematic:
x: 0
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint7:
kinematic:
x: 0.088
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
# Joint to tool origin
joint8:
kinematic:
x: 0
y: 0
z: 0.107
roll: 0
pitch: 0
yaw: 0

62
robots/fr3/dynamics.yaml Normal file
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@@ -0,0 +1,62 @@
joint1:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint2:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint3:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint4:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint5:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint6:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16
joint7:
dynamic:
D: 1
K: 7000
damping: 0.003
friction: 0.2
mu_coulomb: 0
mu_viscous: 16

65
robots/fr3/fr3.urdf.xacro Normal file
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@@ -0,0 +1,65 @@
<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fr3">
<xacro:include filename="$(find franka_description)/robots/common/franka_robot.xacro"/>
<!--
DEPRECATION NOTICE
argument arm_id is no longer supported and will be removed in the future.
This argument is ignored.
-->
<xacro:arg name="arm_id" default="fr3" />
<!-- Don't print a prefix for joints, visuals, and links? -->
<xacro:arg name="no_prefix" default="false"/>
<!-- Should an end-effector be mounted at the flange?" -->
<xacro:arg name="hand" default="true" />
<!-- Which end-effector would be mounted at the flange?" -->
<xacro:arg name="ee_id" default="franka_hand" />
<!-- Should self-collision be enabled? -->
<xacro:arg name="with_sc" default="false" />
<!-- Is the robot being controlled with ros2_control?" -->
<xacro:arg name="ros2_control" default="false" />
<!-- IP address or hostname of the robot" -->
<xacro:arg name="robot_ip" default="" />
<!-- Should a fake hardware be used? -->
<xacro:arg name="use_fake_hardware" default="false" />
<!-- Should fake sensors be used? -->
<xacro:arg name="fake_sensor_commands" default="false" />
<!-- Should the robot be spawned in Gazebo?" -->
<xacro:arg name="gazebo" default="false" />
<!-- Should the robot be spawned in Gazebo with effort interfaces?" -->
<xacro:arg name="gazebo_effort" default="false" />
<!-- For a multi arm setup, we need a threaded robot running async-->
<xacro:arg name="multi_arm" default="false" />
<xacro:franka_robot arm_id="fr3"
joint_limits="${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')}"
inertials="${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')}"
kinematics="${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')}"
dynamics="${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')}"
gazebo="$(arg gazebo)"
hand="$(arg hand)"
ee_id="$(arg ee_id)"
with_sc="$(arg with_sc)"
ros2_control="$(arg ros2_control)"
robot_ip="$(arg robot_ip)"
use_fake_hardware="$(arg use_fake_hardware)"
fake_sensor_commands="$(arg fake_sensor_commands)"
gazebo_effort="$(arg gazebo_effort)"
no_prefix="$(arg no_prefix)"
arm_prefix= ""
connected_to= "base">
</xacro:franka_robot>
</robot>

97
robots/fr3/inertials.yaml Normal file
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link0:
origin:
xyz: -0.0172 0.0004 0.0745
rpy: 0 0 0
mass: 2.3966
inertia:
xx: 0.0090
xy: 0.0000
xz: 0.0020
yy: 0.0115
yz: 0.0000
zz: 0.0085
link1:
origin:
xyz: 0.0000004128 -0.0181251324 -0.0386035970
rpy: 0 0 0
mass: 2.9274653454
inertia:
inertia:
xx: 0.023927316485107913
xy: 1.3317903455714081e-05
xz: -0.00011404774918616684
yy: 0.0224821613275756
yz: -0.0019950320628240115
zz: 0.006350098258530016
link2:
origin:
xyz: 0.0031828864 -0.0743221644 0.0088146084
rpy: 0 0 0
mass: 2.9355370338
inertia:
xx: 0.041938946257609425
xy: 0.00020257331521090626
xz: 0.004077784227179924
yy: 0.02514514885014724
yz: -0.0042252158006570156
zz: 0.06170214472888839
link3:
origin:
xyz: 0.0407015686 -0.0048200565 -0.0289730823
rpy: 0 0 0
mass: 2.2449013699
inertia:
xx: 0.02410142547240885
xy: 0.002404694559042109
xz: -0.002856269270114313
yy: 0.01974053266708178
yz: -0.002104212683891874
zz: 0.019044494482244823
link4:
origin:
xyz: -0.0459100965 0.0630492960 -0.0085187868
rpy: 0 0 0
mass: 2.6155955791
inertia:
xx: 0.03452998321913202
xy: 0.01322552265982813
xz: 0.01015142998484113
yy: 0.028881621933049058
yz: -0.0009762833870704552
zz: 0.04125471171146641
link5:
origin:
xyz: -0.0016039605 0.0292536262 -0.0972965990
rpy: 0 0 0
mass: 2.3271207594
inertia:
xx: 0.051610278463662895
xy: -0.005715173387783472
xz: -0.0035673167625872135
yy: 0.04787729713371481
yz: 0.010673985108535986
zz: 0.016423625579357254
link6:
origin:
xyz: 0.0597131221 -0.0410294666 -0.0101692726
rpy: 0 0 0
mass: 1.8170376524
inertia:
xx: 0.005412333594383447
xy: 0.006193456360285834
xz: 0.0014219289306117652
yy: 0.014058329545509979
yz: -0.0013140753741120031
zz: 0.016080817924212554
link7:
origin:
xyz: 0.0045225817 0.0086261921 -0.0161633251
rpy: 0 0 0
mass: 0.6271432862
inertia:
xx: 0.00021092389150104718
xy: -2.433299114461931e-05
xz: 4.564480393778983e-05
yy: 0.00017718568002411474
yz: 8.744070223226438e-05
zz: 5.993190599659971e-05

48
robots/fr3/joint_limits.yaml Normal file
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@@ -0,0 +1,48 @@
joint1:
limit:
lower: -2.7437
upper: 2.7437
velocity: 2.62
effort: 87.0
joint2:
limit:
lower: -1.7837
upper: 1.7837
velocity: 2.62
effort: 87.0
joint3:
limit:
lower: -2.9007
upper: 2.9007
velocity: 2.62
effort: 87.0
joint4:
limit:
lower: -3.0421
upper: -0.1518
velocity: 2.62
effort: 87.0
joint5:
limit:
lower: -2.8065
upper: 2.8065
velocity: 5.26
effort: 12.0
joint6:
limit:
lower: 0.5445
upper: 4.5169
velocity: 4.18
effort: 12.0
joint7:
limit:
lower: -3.0159
upper: 3.0159
velocity: 5.26
effort: 12.0

72
robots/fr3/kinematics.yaml Normal file
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@@ -0,0 +1,72 @@
joint1:
kinematic:
x: 0
y: 0
z: 0.333
roll: 0
pitch: 0
yaw: 0
joint2:
kinematic:
x: 0
y: 0
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint3:
kinematic:
x: 0
y: -0.316
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint4:
kinematic:
x: 0.0825
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint5:
kinematic:
x: -0.0825
y: 0.384
z: 0
roll: -1.570796326794897
pitch: 0
yaw: 0
joint6:
kinematic:
x: 0
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
joint7:
kinematic:
x: 0.088
y: 0
z: 0
roll: 1.570796326794897
pitch: 0
yaw: 0
# Joint to tool origin
joint8:
kinematic:
x: 0
y: 0
z: 0.107
roll: 0
pitch: 0
yaw: 0

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