448 lines
10 KiB
Plaintext
448 lines
10 KiB
Plaintext
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<!-- Generated from elfin_model/urdf/ROS1/ethercat/elfin5_l.urdf.xacro; external Gazebo/transmission includes omitted. -->
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<robot
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name="elfin5_l">
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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 0" />
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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="-0.000763828012447034 5.78534761012318E-06 0.0304416599943415"
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rpy="0 0 0" />
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<mass
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value="0.970239706050223" />
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<inertia
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ixx="0.00157696245666968"
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ixy="1.162310279099E-07"
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ixz="-2.16838482265701E-05"
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iyy="0.00144565496079807"
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iyz="-6.75796232258283E-08"
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izz="0.00236570554301517" />
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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/ethercat/elfin5_l/elfin_base.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="0.752941176470588 0.752941176470588 0.752941176470588 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/ethercat/elfin5_l/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="2.74291280945297E-06 -0.00431106908087994 -0.035749300042095"
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rpy="0 0 0" />
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<mass
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value="3.25128102774059" />
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<inertia
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ixx="0.0131139015939654"
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ixy="1.53830686129364E-07"
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ixz="4.14641049506695E-07"
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iyy="0.0123861178713594"
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iyz="0.00240614664669846"
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izz="0.00712273876232652" />
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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/ethercat/elfin5_l/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="0.752941176470588 0.752941176470588 0.752941176470588 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/ethercat/elfin5_l/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 0.22"
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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="420"
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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="-1.15596547704752E-05 0.19342932513756 0.127226948268483"
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rpy="0 0 0" />
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<mass
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value="3.18677164197915" />
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<inertia
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ixx="0.0732638197436694"
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ixy="-2.56121994911038E-06"
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ixz="-5.3494258119166E-07"
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iyy="0.00314653544932596"
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iyz="0.00203923656352864"
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izz="0.0739827007427138" />
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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/ethercat/elfin5_l/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="0.752941176470588 0.752941176470588 0.752941176470588 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/ethercat/elfin5_l/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 0"
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rpy="1.5708 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 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="420"
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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="0.0290082762777305 8.22342441060212E-06 -0.00396673299833943"
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rpy="0 0 0" />
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<mass
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value="1.98577160134587" />
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<inertia
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ixx="0.00325219350368072"
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ixy="-2.70075819062165E-07"
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ixz="-0.00114506857359463"
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iyy="0.00594604196480367"
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iyz="7.00616139043877E-07"
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izz="0.00528005539909333" />
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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/ethercat/elfin5_l/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="0.752941176470588 0.752941176470588 0.752941176470588 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/ethercat/elfin5_l/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 0.455 0"
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rpy="-3.1416 0 1.5708" />
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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="-2.41204888928688E-05 -0.0426547830278666 0.280754104084487"
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rpy="0 0 0" />
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<mass
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value="1.93993713587905" />
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<inertia
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ixx="0.0251007737439392"
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ixy="-2.54169536522339E-06"
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ixz="8.29699603012133E-06"
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iyy="0.0220033691095871"
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iyz="0.00719055768488965"
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izz="0.0050341525470247" />
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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/ethercat/elfin5_l/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="0.752941176470588 0.752941176470588 0.752941176470588 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/ethercat/elfin5_l/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 0"
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rpy="1.5708 0 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="200"
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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="-1.05058414287967E-06 -0.0219935499274229 -0.00313939649619641"
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rpy="0 0 0" />
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<mass
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value="1.18717986266679" />
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<inertia
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ixx="0.00223607665617236"
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ixy="7.69391553133098E-08"
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ixz="1.87231557487145E-07"
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iyy="0.00135159851477333"
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iyz="0.000420977821390682"
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izz="0.0019323650554516" />
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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/ethercat/elfin5_l/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="0.752941176470588 0.752941176470588 0.752941176470588 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/ethercat/elfin5_l/elfin_link5.STL" />
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</geometry>
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</collision>
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</link>
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|
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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 0.495"
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rpy="-1.5708 0 0" />
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|
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<parent
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link="elfin_link4" />
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||
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<child
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link="elfin_link5" />
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||
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<axis
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xyz="0 0 1" />
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||
|
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<limit
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||
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lower="-2.56"
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upper="2.56"
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||
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effort="69"
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||
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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="-1.59841609336064E-05 -0.000344916694151934 0.128921909891494"
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rpy="0 0 0" />
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||
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<mass
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value="0.281755133125028" />
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||
|
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<inertia
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||
|
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ixx="0.000141506869034609"
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||
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ixy="-3.26513457523227E-08"
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||
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ixz="7.38940959271975E-08"
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iyy="0.000144516478401501"
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iyz="-8.86072908389216E-08"
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izz="0.000252050888045656" />
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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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|
|
filename="package://elfin_model/model/ethercat/elfin5_l/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_model/model/ethercat/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="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 0.109 0"
|
||
|
|
rpy="-1.5708 1.5708 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_dummy_gripper" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|