CmvrControlStation/models/elfin_model/xacro_source/485_old/elfin5_l.urdf.xacro

<robot
  name="elfin5_l" xmlns:xacro="http://www.ros.org/wiki/xacro">
  
  <xacro:include filename="$(find elfin_description)/urdf/materials.xacro" />
  
  <xacro:include filename="$(find elfin_description)/urdf/elfin_robot.gazebo" />
  
  <xacro:include filename="$(find elfin_description)/urdf/elfin_transmission.xacro" />

  <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="-0.00199130179727394 7.44168336203446E-06 0.0272977448147404"
        rpy="0 0 0" />
      <mass
        value="0.546250568289568" />
      <inertia
        ixx="0.00118732326275469"
        ixy="5.36844840925411E-07"
        ixz="-2.09426769103823E-05"
        iyy="0.00103230683074767"
        iyz="-1.04918150299868E-07"
        izz="0.00193030289476119" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_base.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_base.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="elfin_link1">
    <inertial>
      <origin
        xyz="3.55428747498904E-05 -0.0238032507595431 -0.056664005378111"
        rpy="0 0 0" />
      <mass
        value="1.71757344675846" />
      <inertia
        ixx="0.00313309686683817"
        ixy="-6.81025650006338E-07"
        ixz="-2.50470833748591E-06"
        iyy="0.00372508389579096"
        iyz="0.000325673248643593"
        izz="0.00319411847606861" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint1"
    type="revolute">
    <origin
      xyz="0 0 0.22"
      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="-8.02320899791198E-06 0.194762833402907 0.128888916941187"
        rpy="0 0 0" />
      <mass
        value="1.10522962809227" />
      <inertia
        ixx="0.0225843178593198"
        ixy="-7.27982747203185E-07"
        ixz="-1.78485875318381E-07"
        iyy="0.00152004282471311"
        iyz="0.000623589021520354"
        izz="0.0230428803086098" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/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="0.0461694549854045 1.67843463302067E-05 -0.0210719533256843"
        rpy="0 0 0" />
      <mass
        value="1.07590672952063" />
      <inertia
        ixx="0.00137807691049161"
        ixy="-3.57302576480749E-07"
        ixz="-0.00013179565326652"
        iyy="0.00135308160804782"
        iyz="9.02259193989242E-07"
        izz="0.00154416453671479" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint3"
    type="revolute">
    <origin
      xyz="0 0.455 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="-2.52415186551188E-05 -0.0426485662035081 0.296130346848396"
        rpy="0 0 0" />
      <mass
        value="0.773486357600959" />
      <inertia
        ixx="0.0065953698905962"
        ixy="-7.26135070513294E-07"
        ixz="2.7130632453124E-06"
        iyy="0.00593057161737003"
        iyz="0.00162601275838063"
        izz="0.00175532385127571" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/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="3.81842210340885E-06 -0.0392748047795681 -0.016611659878624"
        rpy="0 0 0" />
      <mass
        value="0.569195376268376" />
      <inertia
        ixx="0.00049899302282636"
        ixy="1.18004264602829E-07"
        ixz="8.00301256557275E-08"
        iyy="0.000467971133493756"
        iyz="5.27088853581295E-05"
        izz="0.000538903096737825" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint5"
    type="revolute">
    <origin
      xyz="0 0 0.495"
      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="-0.000297022367633168 -0.00761155205420682 0.133927970601696"
        rpy="0 0 0" />
      <mass
        value="0.128337100008468" />
      <inertia
        ixx="7.90849008564274E-05"
        ixy="-1.25565924281025E-07"
        ixz="7.36508961310613E-09"
        iyy="7.8314207892007E-05"
        iyz="-2.27606222787623E-06"
        izz="0.000133419441022937" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/elfin_link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5_l/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 0.155"
      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>