CmvrControlStation/models/elfin_model/xacro_source/ethercat/elfin5.urdf.xacro

<robot
  name="elfin5" 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" />
  
  <xacro:property name="PI" value="3.1415926535897931"/>
  
  <xacro:property name="density" value="3.09"/>
  
  <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="-0.000763828012447035 5.78534761012293E-06 0.0304416599943415"
        rpy="0 0 0" />
      <mass
        value="0.970239706050223" />
      <inertia
        ixx="0.00157696245666968"
        ixy="1.16231027909909E-07"
        ixz="-2.16838482265701E-05"
        iyy="0.00144565496079807"
        iyz="-6.75796232258151E-08"
        izz="0.00236570554301517" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_base.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_base.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="elfin_link1">
    <inertial>
      <origin
        xyz="2.74291280953301E-06 -0.00431106908088009 -0.0357493000420958"
        rpy="0 0 0" />
      <mass
        value="3.25128102774055" />
      <inertia
        ixx="0.0131139015939654"
        ixy="1.53830686193548E-07"
        ixz="4.14641049481189E-07"
        iyy="0.0123861178713592"
        iyz="0.00240614664669851"
        izz="0.00712273876232631" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/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="420"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link2">
    <inertial>
      <origin
        xyz="-4.61141935425826E-06 0.1591743105703 0.127676233728645"
        rpy="0 0 0" />
      <mass
        value="2.80251415493372" />
      <inertia
        ixx="0.0472004127058612"
        ixy="-3.78127975165949E-06"
        ixz="2.96484076164975E-07"
        iyy="0.00279445987467469"
        iyz="0.0015424585085081"
        izz="0.0478757132444163" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/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="420"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link3">
    <inertial>
      <origin
        xyz="0.0290082764878195 8.22344830496747E-06 -0.00396673307172194"
        rpy="0 0 0" />
      <mass
        value="1.985771603253" />
      <inertia
        ixx="0.00325219349943707"
        ixy="-2.70050556242264E-07"
        ixz="-0.00114506857457687"
        iyy="0.00594604197825752"
        iyz="7.00611683851371E-07"
        izz="0.00528005541994704" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint3"
    type="revolute">
    <origin
      xyz="0 0.38 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="200"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link4">
    <inertial>
      <origin
        xyz="-3.37325284266827E-05 -0.059246634833044 0.248712399920572"
        rpy="0 0 0" />
      <mass
        value="1.3966627675706" />
      <inertia
        ixx="0.0146417786566676"
        ixy="-1.72570245202171E-06"
        ixz="6.27583250069289E-06"
        iyy="0.0128389262643824"
        iyz="0.00385606704922265"
        izz="0.00311370666742545" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/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="200"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link5">
    <inertial>
      <origin
        xyz="-1.05027528186624E-06 -0.0219935502961173 -0.00313939707023243"
        rpy="0 0 0" />
      <mass
        value="1.18717984150567" />
      <inertia
        ixx="0.00223607662459616"
        ixy="7.69598109537055E-08"
        ixz="1.87231135997621E-07"
        iyy="0.00135159849023817"
        iyz="0.000420977801546637"
        izz="0.00193236500760183" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint5"
    type="revolute">
    <origin
      xyz="0 0 0.42"
      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="69"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link6">
    <inertial>
      <origin
        xyz="-1.59841620089968E-05 -0.00034491847744483 0.128921909891105"
        rpy="0 0 0" />
      <mass
        value="0.281755133133711" />
      <inertia
        ixx="0.000141506869040406"
        ixy="-3.26513406770626E-08"
        ixz="7.38940963331507E-08"
        iyy="0.000144516478405932"
        iyz="-8.86072913302242E-08"
        izz="0.000252050888055838" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/elfin_link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_description/meshes/elfin5/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="69"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_end_link"/>
  <joint
    name="elfin_end_joint"
    type="fixed">
    <origin
      xyz="0 0 0.1565"
      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 -0.0935 0"
      rpy="${PI/2} ${PI/2} 0" />
    <parent
      link="elfin_link6" />
    <child
      link="elfin_dummy_gripper" />
  </joint>
  
</robot>