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E. Gil Jones
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot.urdf.pretty.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
DH for UR5:
a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
joint_direction = [-1, -1, 1, 1, 1, 1]
mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
-->
<robot name="universal_robot">
<!-- Inertia parameters -->
<!-- Invented number, only matters for simulator -->
<!-- 0.11336 - 0.089159 = -->
<!-- 0.119 is not half of 0.39225, is this really correct? -->
<!-- 0.0018 + 0.10915 = 0.110949 -->
<!-- 0.01634 + 0.09465 = 0.11099-->
<!-- Kinematic model -->
<!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
<!-- CAD measured -->
<!-- CAD measured -->
<!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- Collision model -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<!-- manually measured -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Base.dae"/>
</geometry>
<origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/Base.dae"/>
</geometry>
<origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
</collision>
<inertial>
<mass value="4.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</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 0.0 1.0"/>
<limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Shoulder.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/Shoulder.dae"/>
</geometry>
</collision>
<inertial>
<mass value="3.7"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.00193 -0.02561"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/UpperArm.dae"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/UpperArm.dae"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</collision>
<inertial>
<mass value="8.393"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.024201 0.2125"/>
</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="0.0 1.0 0.0"/>
<limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Forearm.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/Forearm.dae"/>
</geometry>
</collision>
<inertial>
<mass value="2.275"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0265 0.11993"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Wrist1.dae"/>
</geometry>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/Wrist1.dae"/>
</geometry>
<origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.110949 0.01634"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</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 0.0 1.0"/>
<limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Wrist2.dae"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/Wrist2.dae"/>
</geometry>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
</collision>
<inertial>
<mass value="1.219"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0018 0.11099"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</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="0.0 1.0 0.0"/>
<limit effort="10.0" lower="-6.2831853" upper="6.2831853" velocity="3.14159265"/>
<dynamics damping="0.1" friction="0.1"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur5_description/meshes/Wrist3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://ur5_description/meshes/Wrist3.dae"/>
</geometry>
</collision>
<inertial>
<mass value="0.1879"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.001159 0.0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
</joint>
<link name="ee_link"/>
<!-- Extra links for collision model -->
<joint name="shoulder_collision_joint" type="fixed">
<parent link="upper_arm_link"/>
<child link="shoulder_collision_link"/>
</joint>
<link name="shoulder_collision_link">
<collision>
<geometry>
<cylinder length="0.2" radius="0.06"/>
</geometry>
<origin rpy="-1.570796325 0.0 0.0" xyz="0.0 -0.035 0.0"/>
</collision>
</link>
<joint name="elbow_collision_joint" type="fixed">
<parent link="upper_arm_link"/>
<child link="elbow_collision_link"/>
</joint>
<link name="elbow_collision_link">
<collision>
<geometry>
<cylinder length="0.2" radius="0.06"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.035 0.425"/>
</collision>
</link>
<gazebo reference="universal_robot">
<material>Gazebo/Blue</material>
</gazebo>
</robot>