455 lines
10 KiB
XML
455 lines
10 KiB
XML
<robot
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name="elfin3" 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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<xacro:property name="PI" value="3.1415926535897931"/>
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<xacro:property name="density" value="3.09"/>
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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 -1.5708" />
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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 ${PI/2}" />
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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="-0.000275485599623298 7.59034702891903E-06 0.0267651528589008"
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rpy="0 0 0" />
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<mass
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value="0.728456071678781" />
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<inertia
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ixx="0.000970397629421624"
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ixy="3.62553999566492E-08"
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ixz="-1.47235460345842E-05"
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iyy="0.00088280791320513"
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iyz="-5.96416765248893E-08"
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izz="0.00145846071899871" />
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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/elfin3/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_description/meshes/elfin3/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="-8.22323356984713E-06 -0.0039667333981909 -0.0290082756012436"
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rpy="0 0 0" />
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<mass
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value="1.98577153801731" />
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<inertia
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ixx="0.0059460417373412"
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ixy="-7.00618460961318E-07"
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ixz="-2.70118506895605E-07"
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iyy="0.00528005523214319"
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iyz="0.00114506851258069"
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izz="0.00325219340192972" />
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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/elfin3/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_description/meshes/elfin3/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 0.1925"
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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="200"
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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="-1.16232734714673E-05 0.116434226200619 0.107577852399745"
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rpy="0 0 0" />
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<mass
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value="1.40617433597616" />
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<inertia
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ixx="0.0116524684265068"
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ixy="2.47639007244578E-06"
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ixz="-1.30890011077188E-07"
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iyy="0.000937691661869045"
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iyz="0.000516659498705414"
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izz="0.0120822102121993" />
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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/elfin3/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_description/meshes/elfin3/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="200"
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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="0.0262387073150999 5.37044335293884E-06 -0.00343411596931149"
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rpy="0 0 0" />
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<mass
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value="1.39255453742279" />
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<inertia
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ixx="0.00182232495944746"
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ixy="-2.21097754348067E-07"
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ixz="-0.000639319275242194"
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iyy="0.00336261409093928"
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iyz="-5.59685465899292E-07"
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izz="0.0029273181824904" />
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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/elfin3/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_description/meshes/elfin3/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 0.266 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="1.95216712879575E-06 -0.0600119802928874 0.203829262782307"
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rpy="0 0 0" />
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<mass
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value="1.01776198349465" />
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<inertia
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ixx="0.00655093186907593"
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ixy="3.55081363904659E-08"
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ixz="-4.08511113735521E-09"
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iyy="0.00535736774588743"
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iyz="0.00190350389406001"
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izz="0.00209832030530978" />
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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/elfin3/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_description/meshes/elfin3/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="104"
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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="-1.05068636685517E-06 -0.0219935514987241 -0.00313939590811477"
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rpy="0 0 0" />
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<mass
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value="1.18717982318704" />
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<inertia
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ixx="0.00223607662582573"
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ixy="7.69188742276543E-08"
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ixz="1.87240425660768E-07"
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iyy="0.00135159846206807"
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iyz="0.000420977818600338"
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izz="0.00193236503805376" />
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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/elfin3/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_description/meshes/elfin3/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 0.324"
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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="-1.59841657886289E-05 -0.000344916688977395 0.128921909889016"
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rpy="0 0 0" />
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<mass
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value="0.281755133199608" />
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<inertia
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ixx="0.000141506869072505"
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ixy="-3.26513130381335E-08"
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ixz="7.38940974164905E-08"
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iyy="0.000144516478429971"
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iyz="-8.86072925228107E-08"
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izz="0.000252050888111854" />
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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/elfin3/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="0.752941176470588 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_description/meshes/elfin3/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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<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 0.1565"
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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 -0.111 0"
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rpy="${PI/2} ${-PI/2} 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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