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="-3.29424604565274E-17 -1.34268095035506E-13 0.0281618442441758"
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rpy="0 0 0" />
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<mass
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value="0.957790548974336" />
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<inertia
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ixx="0.00150277910425554"
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ixy="-5.07476794726385E-15"
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ixz="6.74486887384113E-19"
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iyy="0.00150277910426632"
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iyz="-6.77700047631768E-15"
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izz="0.00236857924691092" />
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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="0.866666666666667 0.866666666666667 0.890196078431372 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="-9.91151833157951E-06 -0.00381802038981039 -0.0288793541460785"
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rpy="0 0 0" />
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<mass
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value="1.76831994028414" />
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<inertia
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ixx="0.00611258909183611"
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ixy="-9.83139510435094E-07"
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ixz="-4.14810998305304E-07"
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iyy="0.00490858433987136"
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iyz="0.000238616259770754"
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izz="0.00347391582535924" />
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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="1 1 1 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="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="-1.09591115591905E-05 0.119133426891285 0.104133324863746"
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rpy="0 0 0" />
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<mass
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value="1.41431338277405" />
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<inertia
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ixx="0.015779563515351"
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ixy="2.57229005873321E-06"
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ixz="-1.33122516224454E-07"
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iyy="0.00107744893104323"
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iyz="0.000788193806414118"
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izz="0.016037242338571" />
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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="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="0.0250568861242891 6.90447572674757E-06 -0.00212484357202786"
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rpy="0 0 0" />
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<mass
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value="1.24814802120785" />
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<inertia
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ixx="0.00198810458497945"
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ixy="-2.27641402661824E-07"
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ixz="-8.7904200299055E-05"
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iyy="0.00344858240749365"
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iyz="-4.73997143171874E-07"
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izz="0.00270707588537784" />
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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="1 1 1 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="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="1.72360446946572E-06 -0.0572841318243815 0.203781479974732"
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rpy="0 0 0" />
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<mass
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value="1.11383740307423" />
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<inertia
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ixx="0.00840848075882267"
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ixy="1.16819985276106E-10"
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ixz="3.20661375501498E-08"
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iyy="0.0068932070989986"
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iyz="0.00249453758997878"
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izz="0.00249504881189781" />
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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="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="3.18971281487254E-07 -0.0247904768102997 -0.00288553868007254"
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rpy="0 0 0" />
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<mass
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value="0.932428626153683" />
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<inertia
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ixx="0.00225363150047226"
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ixy="1.57057111903631E-08"
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ixz="6.68352833152811E-08"
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iyy="0.00123622421076959"
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iyz="7.71608214306329E-05"
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izz="0.00173913787162088" />
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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="1 1 1 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="1.4323826069585E-07 -0.00502093248893552 0.129189718099031"
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rpy="0 0 0" />
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<mass
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value="0.288820351990399" />
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<inertia
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ixx="0.00021791903145322"
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ixy="9.9472362909318E-10"
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ixz="3.50877282174168E-11"
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iyy="0.000175921298751184"
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iyz="1.17498406450176E-06"
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izz="0.000299410517394812" />
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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="1 1 1 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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</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 -0.111 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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