465 lines
11 KiB
Plaintext
465 lines
11 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="elfin10" xmlns:xacro="http://wiki.ros.org/xacro">
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<xacro:arg name="use_real_hardware" default="true" />
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<xacro:arg name="use_fake_hardware" default="false" />
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<!-- Load TRANSMISSION file: -->
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<xacro:include filename="file://$(find elfin_description)/elfin10_transmission.xacro" />
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<!-- Load GAZEBO/ROS2_CONTROL file: -->
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<xacro:include filename="file://$(find elfin_description)/elfin10_gazebo.xacro" />
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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="density" value="3.09"/>
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<!-- <xacro:macro name="elfin10"> -->
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<!-- TRANSMISSION: -->
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<xacro:elfin10_transmission />
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<!-- GAZEBO - ROS2_CONTROL: -->
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<xacro:elfin10_gazebo
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use_real_hardware="$(arg use_real_hardware)"
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use_fake_hardware="$(arg use_fake_hardware)"/>
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<link name="world"/>
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<joint name="world_base" type="fixed">
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<origin
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xyz="0 0 0"
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rpy="0 0 -1.5708" />
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<parent
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link="world" />
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<child
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link="elfin_base_link" />
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</joint>
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<link name="elfin_base_link"/>
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<joint name="elfin_base_joint" type="fixed">
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<origin
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xyz="0 0 0"
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rpy="0 0 ${PI/2}" />
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<parent
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link="elfin_base_link" />
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<child
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link="elfin_base" />
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</joint>
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<link
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name="elfin_base">
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<inertial>
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<origin
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xyz="-0.00226511349377665 4.35718066723588E-06 0.0325128562537015"
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rpy="0 0 0" />
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<mass
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value="1.66727740473724" />
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<inertia
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ixx="0.004269288474386"
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ixy="6.02518130623876E-08"
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ixz="-6.92087963593712E-05"
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iyy="0.00385585336301628"
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iyz="-5.51423740998761E-08"
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izz="0.0068204473327682" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_base.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_base.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="elfin_link1">
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<inertial>
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<origin
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xyz="7.61162863471406E-07 -0.00300107309756385 -0.0432743915921636"
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rpy="0 0 0" />
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<mass
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value="6.3589066662676" />
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<inertia
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ixx="0.0391771076676677"
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ixy="5.46819690041203E-08"
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ixz="4.18972540516346E-07"
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iyy="0.0381555138034643"
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iyz="0.00661206821297882"
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izz="0.0211340101406971" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="elfin_joint1"
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type="revolute">
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<origin
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xyz="0 0 0.26"
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rpy="0 0 0" />
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<parent
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link="elfin_base" />
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<child
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link="elfin_link1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.14"
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upper="3.14"
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effort="420"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link2">
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<inertial>
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<origin
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xyz="-1.29217317440473E-07 0.204406209458582 0.145205671136993"
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rpy="0 0 0" />
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<mass
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value="5.51072381215317" />
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<inertia
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ixx="0.140886684844275"
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ixy="-1.98882818733046E-05"
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ixz="1.28793862225363E-06"
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iyy="0.00904523320332792"
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iyz="0.00556623571013066"
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izz="0.143882970137024" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link2.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="elfin_joint2"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="1.5708 0 0" />
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<parent
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link="elfin_link1" />
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<child
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link="elfin_link2" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.35"
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upper="2.35"
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effort="420"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link3">
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<inertial>
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<origin
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xyz="0.0357493010718184 -2.74303992683623E-06 -0.00441107040289549"
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rpy="0 0 0" />
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<mass
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value="3.25128088148268" />
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<inertia
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ixx="0.00712273850158261"
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ixy="4.14573354600121E-07"
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ixz="-0.00240614658407673"
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iyy="0.0131139013038093"
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iyz="-1.53858261863385E-07"
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izz="0.0123861174875263" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link3.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="elfin_joint3"
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type="revolute">
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<origin
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xyz="0 0.48 0"
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rpy="-3.1416 0 1.5708" />
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<parent
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link="elfin_link2" />
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<child
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link="elfin_link3" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.61"
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upper="2.61"
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effort="200"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link4">
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<inertial>
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<origin
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xyz="3.8972274666868E-06 -0.065883038527668 0.300149807420176"
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rpy="0 0 0" />
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<mass
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value="2.45076028364132" />
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<inertia
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ixx="0.0366043963749035"
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ixy="2.14481800816891E-07"
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ixz="1.74370308297691E-06"
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iyy="0.0331005868546169"
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iyz="0.00876542795872678"
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izz="0.00689303506560623" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link4.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="elfin_joint4"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="1.5708 0 1.5708" />
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<parent
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link="elfin_link3" />
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<child
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link="elfin_link4" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.14"
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upper="3.14"
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effort="200"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link5">
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<inertial>
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<origin
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xyz="5.37084413168812E-06 -0.0262437975997385 -0.00353971828905618"
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rpy="0 0 0" />
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<mass
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value="1.39234539037872" />
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<inertia
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ixx="0.0033625821599978"
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ixy="2.21090591006111E-07"
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ixz="-5.5969383984273E-07"
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iyy="0.00182229285631246"
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iyz="0.000639319386824375"
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izz="0.00292731816323284" />
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</inertial>
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||
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<visual>
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||
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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||
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<geometry>
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||
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link5.STL" />
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||
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</geometry>
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||
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<material
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||
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name="">
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||
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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||
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</material>
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||
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</visual>
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||
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<collision>
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||
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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||
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<mesh
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filename="file://$(find elfin_description)/meshes/elfin10/elfin_link5.STL" />
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</geometry>
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||
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</collision>
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||
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</link>
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<joint
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name="elfin_joint5"
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type="revolute">
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<origin
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xyz="0 0 0.52"
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||
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rpy="-1.5708 0 0" />
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||
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<parent
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link="elfin_link4" />
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||
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<child
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link="elfin_link5" />
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<axis
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xyz="0 0 1" />
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||
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<limit
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||
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lower="-2.56"
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upper="2.56"
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effort="69"
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||
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velocity="1.57" />
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||
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</joint>
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<link
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name="elfin_link6">
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<inertial>
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||
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<origin
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||
|
|
xyz="-8.45231478862452E-06 -0.000388392932234965 0.144636177508013"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<mass
|
||
|
|
value="0.297803050744826" />
|
||
|
|
<inertia
|
||
|
|
ixx="0.000151919382929214"
|
||
|
|
ixy="-1.8598001023495E-09"
|
||
|
|
ixz="6.95653480101813E-08"
|
||
|
|
iyy="0.000155217204136347"
|
||
|
|
iyz="-6.63866631888914E-08"
|
||
|
|
izz="0.00027009779924127" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="file://$(find elfin_description)/meshes/elfin10/elfin_link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="file://$(find elfin_description)/meshes/elfin10/elfin_link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="elfin_joint6"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="1.5708 0 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link5" />
|
||
|
|
<child
|
||
|
|
link="elfin_link6" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-3.14"
|
||
|
|
upper="3.14"
|
||
|
|
effort="69"
|
||
|
|
velocity="1.57" />
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="elfin_end_link"/>
|
||
|
|
<joint
|
||
|
|
name="elfin_end_joint"
|
||
|
|
type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.0 0.1735"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_end_link" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 0" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="elfin_dummy_gripper"/>
|
||
|
|
|
||
|
|
<joint name="elfin_dummy_joint" type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.109 0"
|
||
|
|
rpy="${-PI/2} ${-PI/2} 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_dummy_gripper" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|