395 lines
8.6 KiB
XML
395 lines
8.6 KiB
XML
<!-- Generated from elfin_model/urdf/ROS1/485_old/elfin5.urdf.xacro; external Gazebo/transmission includes omitted. -->
|
|
<robot
|
|
name="elfin5">
|
|
|
|
|
|
<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 1.5707963267949" />
|
|
<parent
|
|
link="elfin_base_link" />
|
|
<child
|
|
link="elfin_base" />
|
|
</joint>
|
|
|
|
<link
|
|
name="elfin_base">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.00022102 0.0013404 0.025529"
|
|
rpy="0 0 0" />
|
|
<mass value="2.13370989"/>
|
|
<inertia
|
|
ixx="0.0040358799" ixy="0.000175512" ixz="5.8401e-06"
|
|
iyy="0.0041550303" iyz="3.38355e-05"
|
|
izz="0.0070803951"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_base.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal_white"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_base.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link
|
|
name="elfin_link1">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.021815 -1.1609E-05 0.095394"
|
|
rpy="0 0 0" />
|
|
<mass value="7.96222548"/>
|
|
<inertia
|
|
ixx="0.0401380494" ixy="0.0088981494" ixz="-3.09e-06"
|
|
iyy="0.0222824535" iyz="-1.6068e-06"
|
|
izz="0.0473608317"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint1"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.0735"
|
|
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="200"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link2">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.15508 0.031021 0.052499"
|
|
rpy="0 0 0" />
|
|
<mass value="3.73459563"/>
|
|
<inertia
|
|
ixx="0.091957473" ixy="-0.0039070269" ixz="-7.416e-07"
|
|
iyy="0.0051960204" iyz="-6.489e-06"
|
|
izz="0.0909910446"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal_grey"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.078 0 0.1465"
|
|
rpy="1.5708 1.3734 -1.5708" />
|
|
<parent
|
|
link="elfin_link1" />
|
|
<child
|
|
link="elfin_link2" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-2.35"
|
|
upper="2.35"
|
|
effort="200"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link3">
|
|
<inertial>
|
|
<origin
|
|
xyz="1.1184E-05 0.041481 -0.052586"
|
|
rpy="0 0 0" />
|
|
<mass value="4.71497847"/>
|
|
<inertia
|
|
ixx="0.0163101015" ixy="0.003836235" ixz="-5.562e-07"
|
|
iyy="0.0098219049" iyz="-2.0703e-06"
|
|
izz="0.0201630843"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.37262 0.074541 -0.0060028"
|
|
rpy="0 0 1.3734" />
|
|
<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="-0.058961 3.7945E-05 0.13807"
|
|
rpy="0 0 0" />
|
|
<mass value="1.46783034"/>
|
|
<inertia
|
|
ixx="0.0167614269" ixy="0.0047923428" ixz="-1.6377e-06"
|
|
iyy="0.004072002" iyz="6.0255e-06"
|
|
izz="0.0187714101"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal_grey"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0.119 -0.072"
|
|
rpy="0 1.5708 1.5708" />
|
|
<parent
|
|
link="elfin_link3" />
|
|
<child
|
|
link="elfin_link4" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-3.14"
|
|
upper="3.14"
|
|
effort="104"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link5">
|
|
<inertial>
|
|
<origin
|
|
xyz="3.4043E-06 -0.036593 -0.044531"
|
|
rpy="0 0 0" />
|
|
<mass value="2.49795291"/>
|
|
<inertia
|
|
ixx="0.0060069291" ixy="0.0014650926" ixz="3.09e-08"
|
|
iyy="0.0034992705" iyz="-3.708e-07"
|
|
izz="0.0076218249"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.0605 0 0.301"
|
|
rpy="-1.5708 0 1.5708" />
|
|
<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="-0.007255 -3.2028E-05 0.033062"
|
|
rpy="0 0 0" />
|
|
<mass value="0.45519408"/>
|
|
<inertia
|
|
ixx="0.0005996763" ixy="4.326e-06" ixz="-8.9301e-06"
|
|
iyy="0.0006053928" iyz="1.545e-07"
|
|
izz="0.0006024264"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="metal_white"/>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin5/elfin_link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.1005 -0.0605"
|
|
rpy="1.5708 1.5708 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 0.0545"
|
|
rpy="0 0 -1.5708" />
|
|
<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 -0.0935 0"
|
|
rpy="1.5707963267949 1.5707963267949 0" />
|
|
<parent
|
|
link="elfin_link6" />
|
|
<child
|
|
link="elfin_dummy_gripper" />
|
|
</joint>
|
|
|
|
</robot>
|