449 lines
9.3 KiB
XML
449 lines
9.3 KiB
XML
<!-- Generated from elfin_model/urdf/ROS1/485_old/elfin10_l.urdf.xacro; external Gazebo/transmission includes omitted. -->
|
|
<robot
|
|
name="elfin10_l">
|
|
|
|
|
|
|
|
<link name="world" />
|
|
|
|
<joint name="world_base" type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="world" />
|
|
<child
|
|
link="elfin_base_link" />
|
|
</joint>
|
|
|
|
<link name="elfin_base_link" />
|
|
|
|
<joint name="elfin_base_joint" type="fixed">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 1.5708" />
|
|
<parent
|
|
link="elfin_base_link" />
|
|
<child
|
|
link="elfin_base" />
|
|
</joint>
|
|
|
|
<link
|
|
name="elfin_base">
|
|
<inertial>
|
|
<origin
|
|
xyz="3.0613E-07 0.0023359 0.025589"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.92777" />
|
|
<inertia
|
|
ixx="0.0027392"
|
|
ixy="1.3667E-07"
|
|
ixz="-1.5309E-07"
|
|
iyy="0.0030619"
|
|
iyz="3.6492E-05"
|
|
izz="0.0053255" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_base.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_base.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link
|
|
name="elfin_link1">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.027642 0.13484 1.9044E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="4.8966" />
|
|
<inertia
|
|
ixx="0.01645"
|
|
ixy="0.00098755"
|
|
ixz="-1.2324E-05"
|
|
iyy="0.014197"
|
|
iyz="-4.9714E-07"
|
|
izz="0.015841" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint1"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.056998"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="elfin_base" />
|
|
<child
|
|
link="elfin_link1" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-3.14"
|
|
upper="3.14"
|
|
effort="420"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link2">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.042656 0.26961 1.5893E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.4435" />
|
|
<inertia
|
|
ixx="0.091287"
|
|
ixy="-0.0033486"
|
|
ixz="2.0759E-06"
|
|
iyy="0.0058345"
|
|
iyz="-6.0394E-06"
|
|
izz="0.089301" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="-0.1025 0.202 0"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="elfin_link1" />
|
|
<child
|
|
link="elfin_link2" />
|
|
<axis
|
|
xyz="-1 0 0" />
|
|
<limit
|
|
lower="-2.35"
|
|
upper="2.35"
|
|
effort="420"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link3">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.020704 -0.051289 2.5325E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="2.4293" />
|
|
<inertia
|
|
ixx="0.0049324"
|
|
ixy="0.00030979"
|
|
ixz="-4.991E-06"
|
|
iyy="0.0043065"
|
|
iyz="-1.2153E-06"
|
|
izz="0.0046452" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0.1025 0.6 0"
|
|
rpy="-3.1416 0 0" />
|
|
<parent
|
|
link="elfin_link2" />
|
|
<child
|
|
link="elfin_link3" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-2.61"
|
|
upper="2.61"
|
|
effort="200"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link4">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.066257 0.23401 1.1858E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.1159" />
|
|
<inertia
|
|
ixx="0.031789"
|
|
ixy="0.005014"
|
|
ixz="3.5796E-07"
|
|
iyy="0.0030538"
|
|
iyz="-5.4746E-06"
|
|
izz="0.032797" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.147 0"
|
|
rpy="-3.1416 0 0" />
|
|
<parent
|
|
link="elfin_link3" />
|
|
<child
|
|
link="elfin_link4" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-3.14"
|
|
upper="3.14"
|
|
effort="200"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link5">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.016508 -0.036734 -5.1662E-06"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.0836" />
|
|
<inertia
|
|
ixx="0.0012538"
|
|
ixy="8.3769E-05"
|
|
ixz="4.7317E-07"
|
|
iyy="0.0011133"
|
|
iyz="-2.0722E-07"
|
|
izz="0.0013201" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0.553 0"
|
|
rpy="3.1416 0 0" />
|
|
<parent
|
|
link="elfin_link4" />
|
|
<child
|
|
link="elfin_link5" />
|
|
<axis
|
|
xyz="1 0 0" />
|
|
<limit
|
|
lower="-2.56"
|
|
upper="2.56"
|
|
effort="69"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link6">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.007186 -0.015033 2.0521E-05"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.11713" />
|
|
<inertia
|
|
ixx="8.0778E-05"
|
|
ixy="-2.1206E-06"
|
|
ixz="-1.0023E-07"
|
|
iyy="0.00013969"
|
|
iyz="-3.1713E-08"
|
|
izz="8.3118E-05" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.75294 0.75294 0.75294 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/485_old/elfin10_l/elfin_link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 -0.1595 0"
|
|
rpy="-3.1416 0 0" />
|
|
<parent
|
|
link="elfin_link5" />
|
|
<child
|
|
link="elfin_link6" />
|
|
<axis
|
|
xyz="0 1 0" />
|
|
<limit
|
|
lower="-3.14"
|
|
upper="3.14"
|
|
effort="69"
|
|
velocity="1.57" />
|
|
</joint>
|
|
|
|
<link name="elfin_end_link" />
|
|
|
|
<joint
|
|
name="elfin_end_joint"
|
|
type="fixed">
|
|
<origin
|
|
xyz="0 0.0095 0"
|
|
rpy="-1.5708 -1.5708 0" />
|
|
<parent
|
|
link="elfin_link6" />
|
|
<child
|
|
link="elfin_end_link" />
|
|
<axis
|
|
xyz="0 0 0" />
|
|
</joint>
|
|
|
|
<link name="elfin_dummy_gripper"/>
|
|
|
|
<joint name="elfin_dummy_joint" type="fixed">
|
|
<origin
|
|
xyz="0 0.109 0"
|
|
rpy="-1.5708 -1.5708 0" />
|
|
<parent
|
|
link="elfin_link6" />
|
|
<child
|
|
link="elfin_dummy_gripper" />
|
|
</joint>
|
|
|
|
</robot>
|