210 lines
6.5 KiB
XML
210 lines
6.5 KiB
XML
<?xml version="1.0" ?>
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<!--FOR GRIPPER, THERE IS NO LINK INERTIA DEFINED HERE-->
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<robot name="universal_robot">
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<link name="base_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/base.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/base.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="4.0"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
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</inertial>
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</link>
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<joint name="shoulder_pan_joint" type="revolute">
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<parent link="base_link"/>
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<child link="shoulder_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
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<axis xyz="0 0 1"/>
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<limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="shoulder_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/shoulder.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/shoulder.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="3.7"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
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</inertial>
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</link>
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<joint name="shoulder_lift_joint" type="revolute">
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<parent link="shoulder_link"/>
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<child link="upper_arm_link"/>
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<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.13585 0.0"/>
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<axis xyz="0 1 0"/>
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<limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="upper_arm_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/upperarm.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/upperarm.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="8.393"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.28"/>
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<inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>
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</inertial>
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</link>
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<joint name="elbow_joint" type="revolute">
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<parent link="upper_arm_link"/>
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<child link="forearm_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
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<axis xyz="0 1 0"/>
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<limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="forearm_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/forearm.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/forearm.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2.275"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.25"/>
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<inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>
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</inertial>
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</link>
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<joint name="wrist_1_joint" type="revolute">
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<parent link="forearm_link"/>
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<child link="wrist_1_link"/>
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<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.39225"/>
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<axis xyz="0 1 0"/>
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<limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_1_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/wrist1.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/wrist1.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.219"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
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</inertial>
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</link>
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<joint name="wrist_2_joint" type="revolute">
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<parent link="wrist_1_link"/>
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<child link="wrist_2_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
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<axis xyz="0 0 1"/>
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<limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_2_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/wrist2.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/wrist2.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.219"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>
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</inertial>
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</link>
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<joint name="wrist_3_joint" type="revolute">
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<parent link="wrist_2_link"/>
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<child link="wrist_3_link"/>
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<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
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<axis xyz="0 1 0"/>
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<limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/>
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<dynamics damping="0.0" friction="0.0"/>
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</joint>
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<link name="wrist_3_link">
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<visual>
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<geometry>
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<mesh filename="../meshes/ur5/visual/wrist3.dae"/>
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</geometry>
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<material name="LightGrey">
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<color rgba="0.7 0.7 0.7 1.0"/>
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</material>
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</visual>
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<collision>
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<geometry>
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<mesh filename="../meshes/ur5/collision/wrist3.stl"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1879"/>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
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<inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>
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</inertial>
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</link>
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<joint name="ee_fixed_joint" type="fixed">
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<parent link="wrist_3_link"/>
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<child link="ee_link"/>
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<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0823 0.0"/>
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</joint>
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<link name="ee_link">
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<collision>
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<geometry>
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<box size="0.01 0.01 0.01"/>
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</geometry>
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<origin rpy="0 0 0" xyz="-0.01 0 0"/>
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</collision>
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</link>
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</robot>
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