448 lines
9.9 KiB
Plaintext
448 lines
9.9 KiB
Plaintext
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<!-- Generated from elfin_model/urdf/ROS1/485/elfin10.urdf.xacro; external Gazebo/transmission includes omitted. -->
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<robot
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name="elfin10">
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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 1.5707963267949" />
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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="-0.00272891148525253 0.000307855470977014 0.0272857003429058"
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rpy="0 0 0" />
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<mass
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value="0.885322892252566" />
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<inertia
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ixx="0.00301072999783137"
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ixy="-1.61177742996604E-05"
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ixz="-3.9001744857601E-05"
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iyy="0.0026859684784965"
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iyz="3.74127558541537E-06"
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izz="0.00520484836475965" />
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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_model/model/485/elfin10/elfin_base_link.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="0.792156862745098 0.819607843137255 0.929411764705882 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="package://elfin_model/model/485/elfin10/elfin_base_link.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="1.64450419081555E-05 -0.0256037445106889 0.116231470679274"
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rpy="0 0 0" />
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<mass
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value="5.06676664437865" />
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<inertia
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ixx="0.0432021422624639"
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ixy="-5.87315615826586E-06"
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ixz="-3.3817285662756E-06"
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iyy="0.0389769463442445"
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iyz="0.00975755293023606"
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izz="0.0198084067505502" />
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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_model/model/485/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="1 1 1 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="package://elfin_model/model/485/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 0.0794"
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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="104"
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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="6.76058799303212E-06 -0.042999875819422 0.209938025941438"
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rpy="0 0 0" />
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<mass
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value="1.67177851395468" />
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<inertia
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ixx="0.0439485446845192"
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ixy="-4.52807636811865E-07"
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ixz="-7.43339382852812E-06"
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iyy="0.0454864353408678"
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iyz="-0.0016627192868139"
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izz="0.00419718886154138" />
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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_model/model/485/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="0.501960784313725 0.501960784313725 0.501960784313725 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="package://elfin_model/model/485/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 -0.1006 0.1806"
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rpy="0 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 -1 0" />
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<limit
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lower="-2.35"
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upper="2.35"
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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_link3">
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<inertial>
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<origin
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xyz="-2.62996059291557E-05 0.0490394097580479 0.052175062906049"
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rpy="0 0 0" />
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<mass
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value="2.52843012692852" />
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<inertia
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ixx="0.0139637252708319"
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ixy="2.19112531145417E-06"
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ixz="-3.30099393077099E-06"
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iyy="0.0122350897234042"
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iyz="-0.00342609019238153"
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izz="0.00648764255835148" />
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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_model/model/485/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="1 1 1 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="package://elfin_model/model/485/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 0.0296 0.48"
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rpy="0 0 0" />
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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 1 0" />
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<limit
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lower="-2.61"
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upper="2.61"
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effort="69"
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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="7.16230692529086E-06 -0.0655290443401757 0.159896102785824"
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rpy="0 0 0" />
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<mass
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value="0.77472632829127" />
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<inertia
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ixx="0.0123453730002939"
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ixy="5.3931985013663E-08"
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ixz="6.96327319489119E-07"
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iyy="0.0114525775167076"
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iyz="0.00266638141144531"
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izz="0.00252781952691956" />
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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_model/model/485/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="0.501960784313725 0.501960784313725 0.501960784313725 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="package://elfin_model/model/485/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 0.071 0.145"
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rpy="0 0 0" />
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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="69"
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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="7.94801868796714E-06 0.0434911461018785 0.0377663456063138"
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rpy="0 0 0" />
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<mass
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value="1.07924103919594" />
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<inertia
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ixx="0.0034729009457966"
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ixy="-5.52196757851043E-07"
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ixz="-1.81605217014424E-07"
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iyy="0.00288839322873982"
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iyz="-0.00085933122800016"
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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_model/model/485/elfin10/elfin_link5.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="1 1 1 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="package://elfin_model/model/485/elfin10/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 -0.061 0.375"
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rpy="0 0 0" />
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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 1 0" />
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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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||
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</joint>
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||
|
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<link
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||
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name="elfin_link6">
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||
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<inertial>
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||
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<origin
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xyz="-9.26612634280175E-05 -0.0081738605677491 0.0354638117456494"
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rpy="0 0 0" />
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<mass
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value="0.119882706389467" />
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||
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<inertia
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||
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ixx="8.35693202355099E-05"
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ixy="-2.08449849387281E-07"
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ixz="-1.2465765267456E-09"
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iyy="8.12022606285257E-05"
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iyz="-2.22337351477352E-06"
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izz="0.0001400999122568" />
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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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||
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<mesh
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||
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filename="package://elfin_model/model/485/elfin10/elfin_link6.STL" />
|
||
|
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</geometry>
|
||
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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="1 1 1 1" />
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|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="package://elfin_model/model/485/elfin10/elfin_link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="elfin_joint6"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.061 0.109"
|
||
|
|
rpy="0 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"/>
|
||
|
|
|
||
|
|
<joint
|
||
|
|
name="elfin_end_joint"
|
||
|
|
type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.059"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_end_link" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="elfin_dummy_gripper"/>
|
||
|
|
|
||
|
|
<joint name="elfin_dummy_joint" type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.109 0"
|
||
|
|
rpy="-1.5707963267949 -1.5707963267949 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_dummy_gripper" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|
||
|
|
|
||
|
|
|