CmvrControlStation/models/elfin_model/urdf/485/elfin15.urdf

<!-- Generated from elfin_model/urdf/ROS1/485/elfin15.urdf.xacro; external Gazebo/transmission includes omitted. -->
<robot
  name="elfin15">



  <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 0" />
    <parent
      link="elfin_base_link" />
    <child
      link="elfin_base" />
  </joint>

  <link
    name="elfin_base">
    <inertial>
      <origin
        xyz="-0.00136943117439078 -2.2883687794971E-06 0.037653456901999"
        rpy="0 0 0" />
      <mass
        value="7.29685766810245" />
      <inertia
        ixx="0.0253289354355793"
        ixy="9.31156473219125E-08"
        ixz="-0.000185995712246883"
        iyy="0.0242633188941406"
        iyz="-5.25886087064228E-07"
        izz="0.0424125697382868" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_base.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.866666666666667 0.866666666666667 0.890196078431372 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_base.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="elfin_link1">
    <inertial>
      <origin
        xyz="-1.88838434646975E-06 -0.00357534605111417 -0.0358732421913592"
        rpy="0 0 0" />
      <mass
        value="26.1752707800957" />
      <inertia
        ixx="0.235852905806904"
        ixy="-2.93045226725672E-06"
        ixz="-7.40247338756675E-06"
        iyy="0.211816347359602"
        iyz="0.00543673722583904"
        izz="0.158448663526753" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint1"
    type="revolute">
    <origin
      xyz="0 0 0.262"
      rpy="0 0 0" />
    <parent
      link="elfin_base" />
    <child
      link="elfin_link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="104"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link2">
    <inertial>
      <origin
        xyz="2.05933361594049E-05 0.292081364859745 0.154041796903471"
        rpy="0 0 0" />
      <mass
        value="25.7826523644554" />
      <inertia
        ixx="1.59115969876519"
        ixy="-0.000158434707227747"
        ixz="-1.28374843136211E-05"
        iyy="0.060560052287277"
        iyz="0.0849224026877452"
        izz="1.60940122192142" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint2"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="elfin_link1" />
    <child
      link="elfin_link2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="104"
      velocity="1.27" />
  </joint>
  <link
    name="elfin_link3">
    <inertial>
      <origin
        xyz="0.0361013116039101 -2.09104451848553E-06 -0.00436986898383294"
        rpy="0 0 0" />
      <mass
        value="7.87585395095179" />
      <inertia
        ixx="0.0200598769348272"
        ixy="1.25572941880986E-06"
        ixz="-0.00144896285503519"
        iyy="0.0366449882644546"
        iyz="-3.00644865145763E-07"
        izz="0.0318875682141342" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint3"
    type="revolute">
    <origin
      xyz="0 0.73 0"
      rpy="3.1416 0 1.5708" />
    <parent
      link="elfin_link2" />
    <child
      link="elfin_link3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.61"
      upper="2.61"
      effort="69"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link4">
    <inertial>
      <origin
        xyz="3.69861764284435E-05 -0.0650226073262321 0.320849382410806"
        rpy="0 0 0" />
      <mass
        value="7.61387925995651" />
      <inertia
        ixx="0.161940120204655"
        ixy="1.02717997864247E-05"
        ixz="-5.48625255221913E-05"
        iyy="0.150731474481883"
        iyz="0.0342650422202228"
        izz="0.0213730036333396" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint4"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 1.5708" />
    <parent
      link="elfin_link3" />
    <child
      link="elfin_link4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="69"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link5">
    <inertial>
      <origin
        xyz="6.77522132084857E-06 -0.0250232007204512 -0.00249100014694705"
        rpy="0 0 0" />
      <mass
        value="3.39284674348347" />
      <inertia
        ixx="0.00944879053562613"
        ixy="7.3090393126655E-07"
        ixz="-1.33077741472994E-06"
        iyy="0.00546921267104708"
        iyz="0.000269340233974182"
        izz="0.00737260482683482" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint5"
    type="revolute">
    <origin
      xyz="0 0 0.57"
      rpy="-1.5708 0 0" />
    <parent
      link="elfin_link4" />
    <child
      link="elfin_link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.56"
      upper="2.56"
      effort="34"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link6">
    <inertial>
      <origin
        xyz="6.22099058005171E-05 -0.00431404711229788 0.139457759665542"
        rpy="0 0 0" />
      <mass
        value="0.352384368425867" />
      <inertia
        ixx="0.000280634757086635"
        ixy="6.25410940758201E-07"
        ixz="-4.34691641585529E-08"
        iyy="0.000240206263474826"
        iyz="4.37829508628483E-06"
        izz="0.000345500299859831" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/elfin_link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin15/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="34"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_end_link">
  </link>
  <joint
    name="elfin_end_joint"
    type="fixed">
    <origin
      xyz="0 0 0.1709"
      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="-1.5708 1.5708 0" />
    <parent
      link="elfin_link6" />
    <child
      link="elfin_dummy_gripper" />
  </joint>

</robot>