403 lines
9.3 KiB
Plaintext
403 lines
9.3 KiB
Plaintext
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<robot
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name="elfin5" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find elfin_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find elfin_description)/urdf/elfin_robot.gazebo" />
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<xacro:include filename="$(find elfin_description)/urdf/elfin_transmission.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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<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 0" />
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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 ${PI/2}" />
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<parent
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link="elfin_base_link" />
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<child
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link="elfin_base" />
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</joint>
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<link
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name="elfin_base">
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<inertial>
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<origin
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xyz="0.00022102 0.0013404 0.025529"
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rpy="0 0 0" />
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<mass value="${0.690521*density}"/>
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<inertia
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ixx="${0.00130611*density}" ixy="${0.0000568*density}" ixz="${0.00000189*density}"
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iyy="${0.00134467*density}" iyz="${0.00001095*density}"
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izz="${0.00229139*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_base.STL" />
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</geometry>
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<material
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name="metal_white"/>
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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="package://elfin_description/meshes/elfin5/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="-0.021815 -1.1609E-05 0.095394"
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rpy="0 0 0" />
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<mass value="${2.576772*density}"/>
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<inertia
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ixx="${0.01298966*density}" ixy="${0.00287966*density}" ixz="${-0.000001*density}"
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iyy="${0.00721115*density}" iyz="${-0.00000052*density}"
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izz="${0.01532713*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_link1.STL" />
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</geometry>
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<material
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name="metal"/>
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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="package://elfin_description/meshes/elfin5/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 0.0735"
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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="200"
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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="-0.15508 0.031021 0.052499"
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rpy="0 0 0" />
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<mass value="${1.208607*density}"/>
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<inertia
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ixx="${0.02975970*density}" ixy="${-0.00126441*density}" ixz="${-0.00000024*density}"
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iyy="${0.00168156*density}" iyz="${-0.0000021*density}"
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izz="${0.02944694*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_link2.STL" />
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</geometry>
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<material
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name="metal_grey"/>
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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="package://elfin_description/meshes/elfin5/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="-0.078 0 0.1465"
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rpy="1.5708 1.3734 -1.5708" />
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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="200"
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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="1.1184E-05 0.041481 -0.052586"
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rpy="0 0 0" />
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<mass value="${1.525883*density}"/>
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<inertia
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ixx="${0.00527835*density}" ixy="${0.00124150*density}" ixz="${-0.00000018*density}"
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iyy="${0.00317861*density}" iyz="${-0.00000067*density}"
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izz="${0.00652527*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_link3.STL" />
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</geometry>
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<material
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name="metal"/>
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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="package://elfin_description/meshes/elfin5/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="-0.37262 0.074541 -0.0060028"
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rpy="0 0 1.3734" />
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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="-0.058961 3.7945E-05 0.13807"
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rpy="0 0 0" />
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<mass value="${0.475026*density}"/>
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<inertia
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ixx="${0.00542441*density}" ixy="${0.00155092*density}" ixz="${-0.00000053*density}"
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iyy="${0.00131780*density}" iyz="${0.00000195*density}"
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izz="${0.00607489*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_link4.STL" />
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</geometry>
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<material
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name="metal_grey"/>
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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="package://elfin_description/meshes/elfin5/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 0.119 -0.072"
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rpy="0 1.5708 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="104"
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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="3.4043E-06 -0.036593 -0.044531"
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rpy="0 0 0" />
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<mass value="${0.808399*density}"/>
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<inertia
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ixx="${0.00194399*density}" ixy="${0.00047414*density}" ixz="${0.00000001*density}"
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iyy="${0.00113245*density}" iyz="${-0.00000012*density}"
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izz="${0.00246661*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_link5.STL" />
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</geometry>
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<material
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name="metal"/>
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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="package://elfin_description/meshes/elfin5/elfin_link5.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_joint5"
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type="revolute">
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<origin
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xyz="-0.0605 0 0.301"
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rpy="-1.5708 0 1.5708" />
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<parent
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link="elfin_link4" />
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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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<limit
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lower="-2.56"
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upper="2.56"
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effort="34"
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velocity="1.57" />
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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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<origin
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xyz="-0.007255 -3.2028E-05 0.033062"
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rpy="0 0 0" />
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<mass value="${0.147312*density}"/>
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<inertia
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ixx="${0.00019407*density}" ixy="${1.4e-06*density}" ixz="${-2.89e-06*density}"
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iyy="${0.00019592*density}" iyz="${5e-08*density}"
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izz="${0.00019496*density}"/>
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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="package://elfin_description/meshes/elfin5/elfin_link6.STL" />
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</geometry>
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<material
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name="metal_white"/>
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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="package://elfin_description/meshes/elfin5/elfin_link6.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_joint6"
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type="revolute">
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<origin
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xyz="0 -0.1005 -0.0605"
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rpy="1.5708 1.5708 0" />
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<parent
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link="elfin_link5" />
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<child
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link="elfin_link6" />
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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="34"
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velocity="1.57" />
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</joint>
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<link name="elfin_end_link"/>
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<joint name="elfin_end_joint" type="fixed">
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<origin
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xyz="0 0 0.0545"
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rpy="0 0 -1.5708" />
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<parent
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link="elfin_link6" />
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<child
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link="elfin_end_link" />
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</joint>
|
||
|
|
|
||
|
|
<link name="elfin_dummy_gripper"/>
|
||
|
|
|
||
|
|
<joint name="elfin_dummy_joint" type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 -0.0935 0"
|
||
|
|
rpy="${PI/2} ${PI/2} 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_dummy_gripper" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|