<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ur10_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- common stuff -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="ros_control">
<!--robotNamespace>/</robotNamespace-->
<!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>
<!--
<plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
<alwaysOn>true</alwaysOn>
<updateRate>1.0</updateRate>
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
<fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
<chargeVoltage>16.41</chargeVoltage>
</plugin>
-->
</gazebo>
<!-- ur10 -->
<material name="UR/Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="UR/Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<!-- arm -->
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
</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 0.1273"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
<!-- -0.127 ???? -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
<!-- -0.127 ???? -->
</collision>
<inertial>
<mass value="7.778"/>
<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="0.00008 0.00244 -0.037"/>
</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 0.220941 0.0"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
<!-- new offset-->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
<!-- new offset-->
</collision>
<inertial>
<mass value="12.93"/>
<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="0.00001 0.15061 0.38757"/>
</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 -0.1719 0.612"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
<!-- new offset -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
<!-- new offset -->
</collision>
<inertial>
<mass value="3.87"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.00012 0.06112 0.1984"/>
<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 0.5723"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
<!-- new offset -->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
<!-- new offset -->
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.00021 -0.00112 0.02269"/>
<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 0.1149 0.0"/>
<axis xyz="0.0 0.0 1.0"/>
<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
<!-- new offset -->
<material name="UR/Grey"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
<!-- new offset -->
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.00021 0.00112 0.002269"/>
<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 0.1157"/>
<axis xyz="0.0 1.0 0.0"/>
<limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
<dynamics damping="10" friction="0.1"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
<!-- new offset -->
<material name="UR/Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
<!-- new offset -->
</collision>
<inertial>
<mass value="0.202"/>
<origin rpy="0.0 0.0 0.0" xyz="0 -0.001156 -0.00149"/>
<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 0.0922 0.0"/>
</joint>
<link name="ee_link"/>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint"/>
<actuator name="shoulder_pan_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="shoulder_lift_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_lift_joint"/>
<actuator name="shoulder_lift_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="elbow_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="elbow_joint"/>
<actuator name="elbow_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_1_joint"/>
<actuator name="wrist_1_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_2_joint"/>
<actuator name="wrist_2_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="wrist_3_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="wrist_3_joint"/>
<actuator name="wrist_3_motor">
<hardwareInterface>EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo reference="base_link">
<material value="Gazebo/Grey"/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="shoulder_pan_link">
<material value="Gazebo/Blue "/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="shoulder_lift_link">
<material value="Gazebo/Grey"/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="elbow_link">
<material value="Gazebo/Blue "/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="wrist_1_link">
<material value="Gazebo/Grey"/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="wrist_2_link">
<material value="Gazebo/Blue "/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<gazebo reference="wrist_3_link">
<material value="Gazebo/Grey"/>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<!-- grounding link (needed for MoveIt! compatability -->
<link name="world">
</link>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="base_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>