447 lines
10 KiB
XML
447 lines
10 KiB
XML
<!-- Generated from elfin_model/urdf/ROS1/485/elfin3.urdf.xacro; external Gazebo/transmission includes omitted. -->
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<robot
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name="elfin3">
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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 1.5707963267949" />
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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="-0.000275485599623296 7.59034702891735E-06 0.0267651528589008"
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rpy="0 0 0" />
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<mass
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value="0.72845607167878" />
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<inertia
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ixx="0.000970397629421624"
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ixy="3.62553999566498E-08"
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ixz="-1.47235460345842E-05"
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iyy="0.00088280791320513"
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iyz="-5.96416765248803E-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_model/model/485/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_model/model/485/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="-8.21073597005758E-06 -0.00385592915185279 -0.0289077735119297"
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rpy="0 0 0" />
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<mass
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value="1.97896448691555" />
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<inertia
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ixx="0.00494086819051033"
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ixy="-8.33960181407241E-07"
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ixz="-1.92976118088366E-07"
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iyy="0.00497296140216295"
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iyz="0.000702662850451301"
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izz="0.00253801272928108" />
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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/485/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_model/model/485/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="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="-1.22565268329047E-05 0.122777737373448 0.107534195375146"
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rpy="0 0 0" />
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<mass
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value="1.33352205550548" />
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<inertia
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ixx="0.0115890392637474"
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ixy="2.47639007244137E-06"
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ixz="-1.30890011076328E-07"
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iyy="0.000874262499109599"
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iyz="0.000516659498705417"
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izz="0.011961985959806" />
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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/485/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_model/model/485/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="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="0.0262387072096018 5.37032356590368E-06 -0.00343411598992478"
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rpy="0 0 0" />
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<mass
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value="1.39255453302632" />
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<inertia
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ixx="0.00182232495604372"
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ixy="-2.21089945706923E-07"
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ixz="-0.000639319273814959"
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iyy="0.00336261407979077"
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iyz="-5.59683408816016E-07"
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izz="0.00292731816720469" />
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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/485/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_model/model/485/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="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="1.95216712881586E-06 -0.0600119802928945 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="0.00655093186907594"
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ixy="3.55081363876865E-08"
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ixz="-4.08511113453618E-09"
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iyy="0.00535736774588744"
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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_model/model/485/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_model/model/485/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="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="-1.05001687024882E-06 -0.0219935503542705 -0.00313939561517204"
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rpy="0 0 0" />
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<mass
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value="1.18717980160834" />
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<inertia
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ixx="0.00223607657277947"
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ixy="7.69537054662417E-08"
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ixz="1.87222209603133E-07"
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iyy="0.00135159843091726"
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iyz="0.000420977804470428"
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izz="0.0019323649715964" />
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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/485/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_model/model/485/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="0.000198862802720535 -0.00258691380873893 0.122731964516512"
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rpy="0 0 0" />
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<mass
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value="0.227303500730531" />
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<inertia
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ixx="0.000125000763469258"
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ixy="-2.55243441789671E-07"
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ixz="6.94596839566468E-09"
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iyy="0.000130554222076413"
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iyz="1.8489071637173E-07"
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izz="0.000203787958721634" />
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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/485/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_model/model/485/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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</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 0.146"
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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="1.5707963267949 -1.5707963267949 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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