CmvrControlStation/models/elfin_model/urdf/485/elfin10_l.urdf

<!-- Generated from elfin_model/urdf/ROS1/485/elfin10_l.urdf.xacro; external Gazebo/transmission includes omitted. -->
<robot
  name="elfin10_l">



  <link name="world" />

  <joint name="world_base" type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="world" />
    <child
      link="elfin_base_link" />
  </joint>

  <link name="elfin_base_link" />

  <joint name="elfin_base_joint" type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 1.5708" />
    <parent
      link="elfin_base_link" />
    <child
      link="elfin_base" />
  </joint>

  <link
    name="elfin_base">
    <inertial>
      <origin
        xyz="3.0613E-07 0.0023359 0.025589"
        rpy="0 0 0" />
      <mass
        value="0.92777" />
      <inertia
        ixx="0.0027392"
        ixy="1.3667E-07"
        ixz="-1.5309E-07"
        iyy="0.0030619"
        iyz="3.6492E-05"
        izz="0.0053255" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_base.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_base.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="elfin_link1">
    <inertial>
      <origin
        xyz="-0.027642 0.13484 1.9044E-05"
        rpy="0 0 0" />
      <mass
        value="4.8966" />
      <inertia
        ixx="0.01645"
        ixy="0.00098755"
        ixz="-1.2324E-05"
        iyy="0.014197"
        iyz="-4.9714E-07"
        izz="0.015841" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint1"
    type="revolute">
    <origin
      xyz="0 0 0.056998"
      rpy="1.5708 0 0" />
    <parent
      link="elfin_base" />
    <child
      link="elfin_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="420"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link2">
    <inertial>
      <origin
        xyz="-0.042656 0.26961 1.5893E-05"
        rpy="0 0 0" />
      <mass
        value="2.4435" />
      <inertia
        ixx="0.091287"
        ixy="-0.0033486"
        ixz="2.0759E-06"
        iyy="0.0058345"
        iyz="-6.0394E-06"
        izz="0.089301" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint2"
    type="revolute">
    <origin
      xyz="-0.1025 0.202 0"
      rpy="0 0 0" />
    <parent
      link="elfin_link1" />
    <child
      link="elfin_link2" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="420"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link3">
    <inertial>
      <origin
        xyz="-0.020704 -0.051289 2.5325E-05"
        rpy="0 0 0" />
      <mass
        value="2.4293" />
      <inertia
        ixx="0.0049324"
        ixy="0.00030979"
        ixz="-4.991E-06"
        iyy="0.0043065"
        iyz="-1.2153E-06"
        izz="0.0046452" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint3"
    type="revolute">
    <origin
      xyz="0.1025 0.6 0"
      rpy="-3.1416 0 0" />
    <parent
      link="elfin_link2" />
    <child
      link="elfin_link3" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.61"
      upper="2.61"
      effort="200"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link4">
    <inertial>
      <origin
        xyz="-0.066257 0.23401 1.1858E-05"
        rpy="0 0 0" />
      <mass
        value="1.1159" />
      <inertia
        ixx="0.031789"
        ixy="0.005014"
        ixz="3.5796E-07"
        iyy="0.0030538"
        iyz="-5.4746E-06"
        izz="0.032797" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint4"
    type="revolute">
    <origin
      xyz="0 -0.147 0"
      rpy="-3.1416 0 0" />
    <parent
      link="elfin_link3" />
    <child
      link="elfin_link4" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="200"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link5">
    <inertial>
      <origin
        xyz="-0.016508 -0.036734 -5.1662E-06"
        rpy="0 0 0" />
      <mass
        value="1.0836" />
      <inertia
        ixx="0.0012538"
        ixy="8.3769E-05"
        ixz="4.7317E-07"
        iyy="0.0011133"
        iyz="-2.0722E-07"
        izz="0.0013201" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint5"
    type="revolute">
    <origin
      xyz="0 0.553 0"
      rpy="3.1416 0 0" />
    <parent
      link="elfin_link4" />
    <child
      link="elfin_link5" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.56"
      upper="2.56"
      effort="69"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link6">
    <inertial>
      <origin
        xyz="-0.007186 -0.015033 2.0521E-05"
        rpy="0 0 0" />
      <mass
        value="0.11713" />
      <inertia
        ixx="8.0778E-05"
        ixy="-2.1206E-06"
        ixz="-1.0023E-07"
        iyy="0.00013969"
        iyz="-3.1713E-08"
        izz="8.3118E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10_l/elfin_link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint6"
    type="revolute">
    <origin
      xyz="0 -0.1595 0"
      rpy="-3.1416 0 0" />
    <parent
      link="elfin_link5" />
    <child
      link="elfin_link6" />
    <axis
      xyz="0 1 0" />
    <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 0.0095 0"
      rpy="-1.5708 -1.5708 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="-1.5708 -1.5708 0" />
    <parent
      link="elfin_link6" />
    <child
      link="elfin_dummy_gripper" />
  </joint>

</robot>