CmvrControlStation/models/elfin_model/urdf/485/elfin10.urdf

<!-- Generated from elfin_model/urdf/ROS1/485/elfin10.urdf.xacro; external Gazebo/transmission includes omitted. -->
<robot
  name="elfin10">


  <link name="world"/>
  
  <joint name="world_base" type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 -1.5708" />
    <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 1.5707963267949" />
    <parent
      link="elfin_base_link" />
    <child
      link="elfin_base" />
  </joint>

  <link
    name="elfin_base">
    <inertial>
      <origin
        xyz="-0.00272891148525253 0.000307855470977014 0.0272857003429058"
        rpy="0 0 0" />
      <mass
        value="0.885322892252566" />
      <inertia
        ixx="0.00301072999783137"
        ixy="-1.61177742996604E-05"
        ixz="-3.9001744857601E-05"
        iyy="0.0026859684784965"
        iyz="3.74127558541537E-06"
        izz="0.00520484836475965" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="elfin_link1">
    <inertial>
      <origin
        xyz="1.64450419081555E-05 -0.0256037445106889 0.116231470679274"
        rpy="0 0 0" />
      <mass
        value="5.06676664437865" />
      <inertia
        ixx="0.0432021422624639"
        ixy="-5.87315615826586E-06"
        ixz="-3.3817285662756E-06"
        iyy="0.0389769463442445"
        iyz="0.00975755293023606"
        izz="0.0198084067505502" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint1"
    type="revolute">
    <origin
      xyz="0 0 0.0794"
      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="6.76058799303212E-06 -0.042999875819422 0.209938025941438"
        rpy="0 0 0" />
      <mass
        value="1.67177851395468" />
      <inertia
        ixx="0.0439485446845192"
        ixy="-4.52807636811865E-07"
        ixz="-7.43339382852812E-06"
        iyy="0.0454864353408678"
        iyz="-0.0016627192868139"
        izz="0.00419718886154138" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint2"
    type="revolute">
    <origin
      xyz="0 -0.1006 0.1806"
      rpy="0 0 0" />
    <parent
      link="elfin_link1" />
    <child
      link="elfin_link2" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="104"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link3">
    <inertial>
      <origin
        xyz="-2.62996059291557E-05 0.0490394097580479 0.052175062906049"
        rpy="0 0 0" />
      <mass
        value="2.52843012692852" />
      <inertia
        ixx="0.0139637252708319"
        ixy="2.19112531145417E-06"
        ixz="-3.30099393077099E-06"
        iyy="0.0122350897234042"
        iyz="-0.00342609019238153"
        izz="0.00648764255835148" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint3"
    type="revolute">
    <origin
      xyz="0 0.0296 0.48"
      rpy="0 0 0" />
    <parent
      link="elfin_link2" />
    <child
      link="elfin_link3" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.61"
      upper="2.61"
      effort="69"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link4">
    <inertial>
      <origin
        xyz="7.16230692529086E-06 -0.0655290443401757 0.159896102785824"
        rpy="0 0 0" />
      <mass
        value="0.77472632829127" />
      <inertia
        ixx="0.0123453730002939"
        ixy="5.3931985013663E-08"
        ixz="6.96327319489119E-07"
        iyy="0.0114525775167076"
        iyz="0.00266638141144531"
        izz="0.00252781952691956" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.501960784313725 0.501960784313725 0.501960784313725 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint4"
    type="revolute">
    <origin
      xyz="0 0.071 0.145"
      rpy="0 0 0" />
    <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="7.94801868796714E-06 0.0434911461018785 0.0377663456063138"
        rpy="0 0 0" />
      <mass
        value="1.07924103919594" />
      <inertia
        ixx="0.0034729009457966"
        ixy="-5.52196757851043E-07"
        ixz="-1.81605217014424E-07"
        iyy="0.00288839322873982"
        iyz="-0.00085933122800016"
        izz="0.00165138766321844" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="elfin_joint5"
    type="revolute">
    <origin
      xyz="0 -0.061 0.375"
      rpy="0 0 0" />
    <parent
      link="elfin_link4" />
    <child
      link="elfin_link5" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.56"
      upper="2.56"
      effort="34"
      velocity="1.57" />
  </joint>
  <link
    name="elfin_link6">
    <inertial>
      <origin
        xyz="-9.26612634280175E-05 -0.0081738605677491 0.0354638117456494"
        rpy="0 0 0" />
      <mass
        value="0.119882706389467" />
      <inertia
        ixx="8.35693202355099E-05"
        ixy="-2.08449849387281E-07"
        ixz="-1.2465765267456E-09"
        iyy="8.12022606285257E-05"
        iyz="-2.22337351477352E-06"
        izz="0.0001400999122568" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://elfin_model/model/485/elfin10/elfin_link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </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>