448 lines
10 KiB
XML
448 lines
10 KiB
XML
<!-- Generated from elfin_model/urdf/ROS1/ethercat/elfin5_l.urdf.xacro; external Gazebo/transmission includes omitted. -->
|
|
<robot
|
|
name="elfin5_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 0" />
|
|
<parent
|
|
link="elfin_base_link" />
|
|
<child
|
|
link="elfin_base" />
|
|
</joint>
|
|
|
|
<link
|
|
name="elfin_base">
|
|
<inertial>
|
|
<origin
|
|
xyz="-0.000763828012447034 5.78534761012318E-06 0.0304416599943415"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.970239706050223" />
|
|
<inertia
|
|
ixx="0.00157696245666968"
|
|
ixy="1.162310279099E-07"
|
|
ixz="-2.16838482265701E-05"
|
|
iyy="0.00144565496079807"
|
|
iyz="-6.75796232258283E-08"
|
|
izz="0.00236570554301517" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_base.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_base.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<link
|
|
name="elfin_link1">
|
|
<inertial>
|
|
<origin
|
|
xyz="2.74291280945297E-06 -0.00431106908087994 -0.035749300042095"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.25128102774059" />
|
|
<inertia
|
|
ixx="0.0131139015939654"
|
|
ixy="1.53830686129364E-07"
|
|
ixz="4.14641049506695E-07"
|
|
iyy="0.0123861178713594"
|
|
iyz="0.00240614664669846"
|
|
izz="0.00712273876232652" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link1.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link1.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint1"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.22"
|
|
rpy="0 0 0" />
|
|
<parent
|
|
link="elfin_base" />
|
|
<child
|
|
link="elfin_link1" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-3.14"
|
|
upper="3.14"
|
|
effort="420"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link2">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.15596547704752E-05 0.19342932513756 0.127226948268483"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="3.18677164197915" />
|
|
<inertia
|
|
ixx="0.0732638197436694"
|
|
ixy="-2.56121994911038E-06"
|
|
ixz="-5.3494258119166E-07"
|
|
iyy="0.00314653544932596"
|
|
iyz="0.00203923656352864"
|
|
izz="0.0739827007427138" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link2.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link2.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint2"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="elfin_link1" />
|
|
<child
|
|
link="elfin_link2" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-2.35"
|
|
upper="2.35"
|
|
effort="420"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link3">
|
|
<inertial>
|
|
<origin
|
|
xyz="0.0290082762777305 8.22342441060212E-06 -0.00396673299833943"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.98577160134587" />
|
|
<inertia
|
|
ixx="0.00325219350368072"
|
|
ixy="-2.70075819062165E-07"
|
|
ixz="-0.00114506857359463"
|
|
iyy="0.00594604196480367"
|
|
iyz="7.00616139043877E-07"
|
|
izz="0.00528005539909333" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link3.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link3.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint3"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0.455 0"
|
|
rpy="-3.1416 0 1.5708" />
|
|
<parent
|
|
link="elfin_link2" />
|
|
<child
|
|
link="elfin_link3" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-2.61"
|
|
upper="2.61"
|
|
effort="200"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link4">
|
|
<inertial>
|
|
<origin
|
|
xyz="-2.41204888928688E-05 -0.0426547830278666 0.280754104084487"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.93993713587905" />
|
|
<inertia
|
|
ixx="0.0251007737439392"
|
|
ixy="-2.54169536522339E-06"
|
|
ixz="8.29699603012133E-06"
|
|
iyy="0.0220033691095871"
|
|
iyz="0.00719055768488965"
|
|
izz="0.0050341525470247" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link4.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link4.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint4"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 0 1.5708" />
|
|
<parent
|
|
link="elfin_link3" />
|
|
<child
|
|
link="elfin_link4" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-3.14"
|
|
upper="3.14"
|
|
effort="200"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link5">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.05058414287967E-06 -0.0219935499274229 -0.00313939649619641"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="1.18717986266679" />
|
|
<inertia
|
|
ixx="0.00223607665617236"
|
|
ixy="7.69391553133098E-08"
|
|
ixz="1.87231557487145E-07"
|
|
iyy="0.00135159851477333"
|
|
iyz="0.000420977821390682"
|
|
izz="0.0019323650554516" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link5.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link5.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint5"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0.495"
|
|
rpy="-1.5708 0 0" />
|
|
<parent
|
|
link="elfin_link4" />
|
|
<child
|
|
link="elfin_link5" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<limit
|
|
lower="-2.56"
|
|
upper="2.56"
|
|
effort="69"
|
|
velocity="1.57" />
|
|
</joint>
|
|
<link
|
|
name="elfin_link6">
|
|
<inertial>
|
|
<origin
|
|
xyz="-1.59841609336064E-05 -0.000344916694151934 0.128921909891494"
|
|
rpy="0 0 0" />
|
|
<mass
|
|
value="0.281755133125028" />
|
|
<inertia
|
|
ixx="0.000141506869034609"
|
|
ixy="-3.26513457523227E-08"
|
|
ixz="7.38940959271975E-08"
|
|
iyy="0.000144516478401501"
|
|
iyz="-8.86072908389216E-08"
|
|
izz="0.000252050888045656" />
|
|
</inertial>
|
|
<visual>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link6.STL" />
|
|
</geometry>
|
|
<material
|
|
name="">
|
|
<color
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="0 0 0" />
|
|
<geometry>
|
|
<mesh
|
|
filename="package://elfin_model/model/ethercat/elfin5_l/elfin_link6.STL" />
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
<joint
|
|
name="elfin_joint6"
|
|
type="revolute">
|
|
<origin
|
|
xyz="0 0 0"
|
|
rpy="1.5708 0 0" />
|
|
<parent
|
|
link="elfin_link5" />
|
|
<child
|
|
link="elfin_link6" />
|
|
<axis
|
|
xyz="0 0 1" />
|
|
<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 0.1565"
|
|
rpy="0 0 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>
|