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ur5_mod.urdf
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ur5_mod.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ur5_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:xacro="http://ros.org/wiki/xacro">
<link name="base_link">
<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 0.089159"/>
<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">
<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 0.13585 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">
<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 -0.1197 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">
<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 0.39225"/>
<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">
<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 0.093 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">
<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 0.09465"/>
<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">
<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="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="tool0">
<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>
</robot>