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| <!-- ============================================================================================= --> | |
| <!-- | This document was autogenerated by xacro from ur_description/urdf/ur5_robot.urdf.xacro | --> | |
| <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> | |
| <!-- ============================================================================================= --> | |
| <robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro"> | |
| <material name="LightGrey"> | |
| <color rgba="0.8 0.8 0.8 1.0"/> | |
| </material> | |
| <material name="DarkGrey"> | |
| <color rgba="0.2 0.2 0.2 1.0"/> | |
| </material> | |
| <link name="base_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/base.dae"/> | |
| </geometry> | |
| <material name="LightGrey"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="collision/base.stl"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="4.0"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/> | |
| </inertial> | |
| </link> | |
| <joint name="shoulder_pan_joint" type="revolute"> | |
| <parent link="base_link"/> | |
| <child link="shoulder_link"/> | |
| <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.163"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/> | |
| <dynamics damping="0.0" friction="0.0"/> | |
| </joint> | |
| <link name="shoulder_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/shoulder.dae"/> | |
| </geometry> | |
| <material name="DarkGrey"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="collision/shoulder.stl"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="3.7"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/> | |
| </inertial> | |
| </link> | |
| <joint name="shoulder_lift_joint" type="revolute"> | |
| <parent link="shoulder_link"/> | |
| <child link="upper_arm_link"/> | |
| <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.138 0.0"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.15"/> | |
| <dynamics damping="0.0" friction="0.0"/> | |
| </joint> | |
| <link name="upper_arm_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/upperarm.dae"/> | |
| </geometry> | |
| <material name="LightGrey"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="collision/upperarm.stl"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="8.393"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.28"/> | |
| <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/> | |
| </inertial> | |
| </link> | |
| <joint name="elbow_joint" type="revolute"> | |
| <parent link="upper_arm_link"/> | |
| <child link="forearm_link"/> | |
| <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.131 0.425"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.15"/> | |
| <dynamics damping="0.0" friction="0.0"/> | |
| </joint> | |
| <link name="forearm_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/forearm.dae"/> | |
| </geometry> | |
| <material name="DarkGrey"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="collision/forearm.stl"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="2.275"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.25"/> | |
| <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/> | |
| </inertial> | |
| </link> | |
| <joint name="wrist_1_joint" type="revolute"> | |
| <parent link="forearm_link"/> | |
| <child link="wrist_1_link"/> | |
| <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.392"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/> | |
| <dynamics damping="0.0" friction="0.0"/> | |
| </joint> | |
| <link name="wrist_1_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/wrist1.dae"/> | |
| </geometry> | |
| <material name="LightGrey"/> | |
| </visual> | |
| <!-- <collision> | |
| <geometry> | |
| <mesh filename="collision/wrist1.stl"/> | |
| </geometry> | |
| </collision> --> | |
| <inertial> | |
| <mass value="1.219"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/> | |
| </inertial> | |
| </link> | |
| <joint name="wrist_2_joint" type="revolute"> | |
| <parent link="wrist_1_link"/> | |
| <child link="wrist_2_link"/> | |
| <origin rpy="0.0 0.0 0.0" xyz="0.0 0.127 0.0"/> | |
| <axis xyz="0 0 1"/> | |
| <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/> | |
| <dynamics damping="0.0" friction="0.0"/> | |
| </joint> | |
| <link name="wrist_2_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/wrist2.dae"/> | |
| </geometry> | |
| <material name="DarkGrey"/> | |
| </visual> | |
| <collision> | |
| <geometry> | |
| <mesh filename="collision/wrist2.stl"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="1.219"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/> | |
| </inertial> | |
| </link> | |
| <joint name="wrist_3_joint" type="revolute"> | |
| <parent link="wrist_2_link"/> | |
| <child link="wrist_3_link"/> | |
| <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.100"/> | |
| <axis xyz="0 1 0"/> | |
| <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.2"/> | |
| <dynamics damping="0.0" friction="0.0"/> | |
| </joint> | |
| <link name="wrist_3_link"> | |
| <visual> | |
| <geometry> | |
| <mesh filename="visual/wrist3.dae"/> | |
| </geometry> | |
| <material name="LightGrey"/> | |
| </visual> | |
| <collision> | |
| <geometry> | |
| <mesh filename="collision/wrist3.stl"/> | |
| </geometry> | |
| </collision> | |
| <inertial> | |
| <mass value="0.1879"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/> | |
| </inertial> | |
| </link> | |
| <joint name="ee_fixed_joint" type="fixed"> | |
| <parent link="wrist_3_link"/> | |
| <child link="ee_link"/> | |
| <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.100 0.0"/> | |
| </joint> | |
| <link name="ee_link"> | |
| <!-- <collision> | |
| <geometry> | |
| <box size="0.01 0.01 0.01"/> | |
| </geometry> | |
| <origin rpy="0 0 0" xyz="-0.01 0 0"/> | |
| </collision> --> | |
| <inertial> | |
| <mass value="0.0"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> | |
| </inertial> | |
| </link> | |
| <!-- nothing to do here at the moment --> | |
| <!-- ROS base_link to UR 'Base' Coordinates transform --> | |
| <link name="base"> | |
| <inertial> | |
| <mass value="0.0"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> | |
| </inertial> | |
| </link> | |
| <joint name="base_link-base_fixed_joint" type="fixed"> | |
| <!-- NOTE: this rotation is only needed as long as base_link itself is | |
| not corrected wrt the real robot (ie: rotated over 180 | |
| degrees) | |
| --> | |
| <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/> | |
| <parent link="base_link"/> | |
| <child link="base"/> | |
| </joint> | |
| <!-- Frame coincident with all-zeros TCP on UR controller --> | |
| <link name="tool0"> | |
| <inertial> | |
| <mass value="0.0"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> | |
| </inertial> | |
| </link> | |
| <joint name="wrist_3_link-tool0_fixed_joint" type="fixed"> | |
| <origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/> | |
| <parent link="wrist_3_link"/> | |
| <child link="tool0"/> | |
| </joint> | |
| <link name="tool_tip"> | |
| <inertial> | |
| <mass value="0.0"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> | |
| </inertial> | |
| <!-- <visual> | |
| <geometry> | |
| <box size="0.01 0.01 0.01"/> | |
| </geometry> | |
| <material name="DarkGrey"/> | |
| <origin rpy="0 0 0" xyz="0 0 0"/> | |
| </visual> --> | |
| </link> | |
| <joint name="tool0_fixed_joint-tool_tip" type="fixed"> | |
| <origin rpy="0 0 0" xyz="0 0 0.175"/> | |
| <parent link="tool0"/> | |
| <child link="tool_tip"/> | |
| </joint> | |
| <link name="world"/> | |
| <joint name="world_joint" type="fixed"> | |
| <parent link="world"/> | |
| <child link="rotated_base_link"/> | |
| <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> | |
| </joint> | |
| <link name="rotated_base_link"> | |
| <inertial> | |
| <mass value="0.0"/> | |
| <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/> | |
| <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/> | |
| </inertial> | |
| </link>> | |
| <joint name="rotated_base-base_fixed_joint" type="fixed"> | |
| <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793"/> | |
| <parent link="rotated_base_link"/> | |
| <child link="base_link"/> | |
| </joint> | |
| </robot> | |