449 lines
9.9 KiB
XML
449 lines
9.9 KiB
XML
<!-- Generated from elfin_model/urdf/ROS1/485/elfin15.urdf.xacro; external Gazebo/transmission includes omitted. -->
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<robot
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name="elfin15">
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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 0" />
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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 0" />
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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="-0.00136943117439078 -2.2883687794971E-06 0.037653456901999"
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rpy="0 0 0" />
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<mass
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value="7.29685766810245" />
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<inertia
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ixx="0.0253289354355793"
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ixy="9.31156473219125E-08"
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ixz="-0.000185995712246883"
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iyy="0.0242633188941406"
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iyz="-5.25886087064228E-07"
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izz="0.0424125697382868" />
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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/elfin15/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_model/model/485/elfin15/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="-1.88838434646975E-06 -0.00357534605111417 -0.0358732421913592"
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rpy="0 0 0" />
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<mass
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value="26.1752707800957" />
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<inertia
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ixx="0.235852905806904"
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ixy="-2.93045226725672E-06"
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ixz="-7.40247338756675E-06"
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iyy="0.211816347359602"
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iyz="0.00543673722583904"
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izz="0.158448663526753" />
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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/elfin15/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_model/model/485/elfin15/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 0.262"
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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="2.05933361594049E-05 0.292081364859745 0.154041796903471"
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rpy="0 0 0" />
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<mass
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value="25.7826523644554" />
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<inertia
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ixx="1.59115969876519"
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ixy="-0.000158434707227747"
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ixz="-1.28374843136211E-05"
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iyy="0.060560052287277"
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iyz="0.0849224026877452"
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izz="1.60940122192142" />
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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/elfin15/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="0.890196078431372 0.890196078431372 0.913725490196078 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/elfin15/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="0.0361013116039101 -2.09104451848553E-06 -0.00436986898383294"
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rpy="0 0 0" />
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<mass
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value="7.87585395095179" />
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<inertia
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ixx="0.0200598769348272"
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ixy="1.25572941880986E-06"
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ixz="-0.00144896285503519"
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iyy="0.0366449882644546"
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iyz="-3.00644865145763E-07"
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izz="0.0318875682141342" />
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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/elfin15/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_model/model/485/elfin15/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 0.73 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="3.69861764284435E-05 -0.0650226073262321 0.320849382410806"
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rpy="0 0 0" />
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<mass
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value="7.61387925995651" />
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<inertia
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ixx="0.161940120204655"
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ixy="1.02717997864247E-05"
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ixz="-5.48625255221913E-05"
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iyy="0.150731474481883"
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iyz="0.0342650422202228"
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izz="0.0213730036333396" />
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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/elfin15/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="0.890196078431372 0.890196078431372 0.913725490196078 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/elfin15/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="6.77522132084857E-06 -0.0250232007204512 -0.00249100014694705"
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rpy="0 0 0" />
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<mass
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value="3.39284674348347" />
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<inertia
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ixx="0.00944879053562613"
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ixy="7.3090393126655E-07"
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ixz="-1.33077741472994E-06"
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iyy="0.00546921267104708"
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iyz="0.000269340233974182"
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izz="0.00737260482683482" />
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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/elfin15/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="0.890196078431372 0.890196078431372 0.913725490196078 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/elfin15/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 0.57"
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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="6.22099058005171E-05 -0.00431404711229788 0.139457759665542"
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rpy="0 0 0" />
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<mass
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value="0.352384368425867" />
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<inertia
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ixx="0.000280634757086635"
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ixy="6.25410940758201E-07"
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ixz="-4.34691641585529E-08"
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iyy="0.000240206263474826"
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iyz="4.37829508628483E-06"
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izz="0.000345500299859831" />
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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/elfin15/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_model/model/485/elfin15/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 0.1709"
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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 0.109 0"
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rpy="-1.5708 1.5708 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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