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sharework_cell.urdf
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sharework_cell.urdf
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from sharework_cell.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="cembre">
<!--
Author: Kelsey Hawkins
Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana
-->
<!--"0.202"-->
<!-- measured from model -->
<link name="ur10_base_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<joint name="ur10_shoulder_pan_joint" type="revolute">
<parent link="ur10_base_link"/>
<child link="ur10_shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1273"/>
<axis xyz="0 0 1"/>
<limit effort="330.0" lower="-3.14159265359" upper="3.14159265359" velocity="2.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="ur10_shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="7.778"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0314743125769" ixy="0.0" ixz="0.0" iyy="0.0314743125769" iyz="0.0" izz="0.021875625"/>
</inertial>
</link>
<joint name="ur10_shoulder_lift_joint" type="revolute">
<parent link="ur10_shoulder_link"/>
<child link="ur10_upper_arm_link"/>
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.220941 0.0"/>
<axis xyz="0 1 0"/>
<limit effort="330.0" lower="-3.14159265359" upper="3.14159265359" velocity="2.16"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="ur10_upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="12.93"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.306"/>
<inertia ixx="0.421753803798" ixy="0.0" ixz="0.0" iyy="0.421753803798" iyz="0.0" izz="0.036365625"/>
</inertial>
</link>
<joint name="ur10_elbow_joint" type="revolute">
<parent link="ur10_upper_arm_link"/>
<child link="ur10_forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1719 0.612"/>
<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="ur10_forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.87"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.28615"/>
<inertia ixx="0.111069694097" ixy="0.0" ixz="0.0" iyy="0.111069694097" iyz="0.0" izz="0.010884375"/>
</inertial>
</link>
<joint name="ur10_wrist_1_joint" type="revolute">
<parent link="ur10_forearm_link"/>
<child link="ur10_wrist_1_link"/>
<origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.5723"/>
<axis xyz="0 1 0"/>
<limit effort="54.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="ur10_wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/wrist1.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
</inertial>
</link>
<joint name="ur10_wrist_2_joint" type="revolute">
<parent link="ur10_wrist_1_link"/>
<child link="ur10_wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.1149 0.0"/>
<axis xyz="0 0 1"/>
<limit effort="54.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="ur10_wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/wrist2.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0051082479567" ixy="0.0" ixz="0.0" iyy="0.0051082479567" iyz="0.0" izz="0.0055125"/>
</inertial>
</link>
<joint name="ur10_wrist_3_joint" type="revolute">
<parent link="ur10_wrist_2_link"/>
<child link="ur10_wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.1157"/>
<axis xyz="0 1 0"/>
<limit effort="54.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.2"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="ur10_wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/wrist3.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0026062489575" ixy="0.0" ixz="0.0" iyy="0.0026062489575" iyz="0.0" izz="0.0028125"/>
</inertial>
</link>
<joint name="ur10_ee_fixed_joint" type="fixed">
<parent link="ur10_wrist_3_link"/>
<child link="ur10_ee_link"/>
<origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.0922 0.0"/>
</joint>
<link name="ur10_ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
<transmission name="ur10_shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="ur10_shoulder_pan_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ur10_shoulder_pan_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="ur10_shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="ur10_shoulder_lift_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ur10_shoulder_lift_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="ur10_elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="ur10_elbow_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ur10_elbow_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="ur10_wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="ur10_wrist_1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ur10_wrist_1_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="ur10_wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="ur10_wrist_2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ur10_wrist_2_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="ur10_wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="ur10_wrist_3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="ur10_wrist_3_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="ur10_shoulder_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ur10_upper_arm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ur10_forearm_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ur10_wrist_1_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ur10_wrist_3_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ur10_wrist_2_link">
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="ur10_ee_link">
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
<link name="ur10_base"/>
<joint name="ur10_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="ur10_base_link"/>
<child link="ur10_base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
<link name="ur10_tool0"/>
<joint name="ur10_wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/>
<parent link="ur10_wrist_3_link"/>
<child link="ur10_tool0"/>
</joint>
<!-- <joint name="ur5_joint" type="fixed">
<parent link="sharework_cell" />
<child link = "ur10_base_link" />
<origin xyz="0.02 0.02 0" rpy="0 0 ${0*pi}" />
</joint> -->
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="sharework_cell"/>
<origin rpy="0 0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<link name="sharework_cell">
<visual>
<geometry>
<mesh filename="package://cembre_assembly_description/meshes/sharework_cell_simplifed.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://cembre_assembly_description/meshes/sharework_cell_simplifed.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="linear_guide_cursor"/>
<joint name="linear_joint" type="prismatic">
<parent link="sharework_cell"/>
<child link="linear_guide_cursor"/>
<limit effort="1000.0" lower="-0.6" upper="0.6" velocity="1"/>
<axis xyz="0 1 0"/>
<origin rpy="0.0 -3.14159265359 1.57079632679" xyz="0 0.4 2"/>
</joint>
<joint name="ur10_joint" type="fixed">
<parent link="linear_guide_cursor"/>
<child link="ur10_base_link"/>
<origin rpy="0 0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
<link name="tool">
<visual>
<origin rpy="0 0 0" xyz=" 0 0.0 -0.075"/>
<geometry>
<cylinder length="0.15" radius="0.05"/>
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<joint name="tool_joint" type="fixed">
<parent link="ur10_tool0"/>
<child link="tool"/>
<origin rpy="0 0 0.0" xyz="0.0 0.0 0.15"/>
</joint>
</robot>