452 lines
10 KiB
XML
452 lines
10 KiB
XML
<robot
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name="elfin5_l" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find elfin_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find elfin_description)/urdf/elfin_robot.gazebo" />
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<xacro:include filename="$(find elfin_description)/urdf/elfin_transmission.xacro" />
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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="-0.00199130179727394 7.44168336203446E-06 0.0272977448147404"
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rpy="0 0 0" />
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<mass
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value="0.546250568289568" />
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<inertia
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ixx="0.00118732326275469"
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ixy="5.36844840925411E-07"
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ixz="-2.09426769103823E-05"
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iyy="0.00103230683074767"
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iyz="-1.04918150299868E-07"
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izz="0.00193030289476119" />
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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_description/meshes/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="0.792156862745098 0.819607843137255 0.933333333333333 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_description/meshes/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="3.55428747498904E-05 -0.0238032507595431 -0.056664005378111"
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rpy="0 0 0" />
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<mass
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value="1.71757344675846" />
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<inertia
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ixx="0.00313309686683817"
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ixy="-6.81025650006338E-07"
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ixz="-2.50470833748591E-06"
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iyy="0.00372508389579096"
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iyz="0.000325673248643593"
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izz="0.00319411847606861" />
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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_description/meshes/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="0.792156862745098 0.819607843137255 0.933333333333333 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_description/meshes/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="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="-8.02320899791198E-06 0.194762833402907 0.128888916941187"
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rpy="0 0 0" />
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<mass
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value="1.10522962809227" />
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<inertia
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ixx="0.0225843178593198"
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ixy="-7.27982747203185E-07"
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ixz="-1.78485875318381E-07"
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iyy="0.00152004282471311"
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iyz="0.000623589021520354"
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izz="0.0230428803086098" />
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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_description/meshes/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="0.792156862745098 0.819607843137255 0.933333333333333 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_description/meshes/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="104"
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velocity="1.27" />
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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="0.0461694549854045 1.67843463302067E-05 -0.0210719533256843"
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rpy="0 0 0" />
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<mass
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value="1.07590672952063" />
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<inertia
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ixx="0.00137807691049161"
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ixy="-3.57302576480749E-07"
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ixz="-0.00013179565326652"
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iyy="0.00135308160804782"
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iyz="9.02259193989242E-07"
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izz="0.00154416453671479" />
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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_description/meshes/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="0.792156862745098 0.819607843137255 0.933333333333333 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_description/meshes/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="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="-2.52415186551188E-05 -0.0426485662035081 0.296130346848396"
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rpy="0 0 0" />
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<mass
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value="0.773486357600959" />
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<inertia
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ixx="0.0065953698905962"
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ixy="-7.26135070513294E-07"
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ixz="2.7130632453124E-06"
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iyy="0.00593057161737003"
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iyz="0.00162601275838063"
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izz="0.00175532385127571" />
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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_description/meshes/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="0.792156862745098 0.819607843137255 0.933333333333333 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_description/meshes/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="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="3.81842210340885E-06 -0.0392748047795681 -0.016611659878624"
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rpy="0 0 0" />
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<mass
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value="0.569195376268376" />
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<inertia
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ixx="0.00049899302282636"
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ixy="1.18004264602829E-07"
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ixz="8.00301256557275E-08"
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iyy="0.000467971133493756"
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iyz="5.27088853581295E-05"
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izz="0.000538903096737825" />
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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_description/meshes/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="0.792156862745098 0.819607843137255 0.933333333333333 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_description/meshes/elfin5_l/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 0.495"
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rpy="-1.5708 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 0 1" />
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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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</joint>
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<link
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name="elfin_link6">
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<inertial>
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<origin
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xyz="-0.000297022367633168 -0.00761155205420682 0.133927970601696"
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rpy="0 0 0" />
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<mass
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value="0.128337100008468" />
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<inertia
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ixx="7.90849008564274E-05"
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ixy="-1.25565924281025E-07"
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ixz="7.36508961310613E-09"
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iyy="7.8314207892007E-05"
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iyz="-2.27606222787623E-06"
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izz="0.000133419441022937" />
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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_description/meshes/elfin5_l/elfin_link6.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 0.933333333333333 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_description/meshes/elfin5_l/elfin_link6.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_joint6"
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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_link5" />
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<child
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link="elfin_link6" />
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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="34"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_end_link">
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</link>
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<joint
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name="elfin_end_joint"
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type="fixed">
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<origin
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xyz="0 0 0.155"
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rpy="0 0 0" />
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<parent
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link="elfin_link6" />
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<child
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link="elfin_end_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link name="elfin_dummy_gripper"/>
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<joint name="elfin_dummy_joint" type="fixed">
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<origin
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xyz="0 0.109 0"
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rpy="-1.5708 1.5708 0" />
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<parent
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link="elfin_link6" />
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<child
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link="elfin_dummy_gripper" />
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</joint>
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</robot>
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