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xarm6_robotiq.urdf
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<?xml version="1.0" encoding="utf-8"?>
<robot name="xarm6">
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<material name="MaterialFromMTL">
<color rgba="0.8 0.8 0.8 1.0"/>
<specular rgb="0.8 0.8 0.8"/>
<ambient rgb="0.8 0.8 0.8"/>
<diffuse rgb="0.8 0.8 0.8"/>
</material>
<material name="MaterialFromMTL2">
<color rgba="0.8 0.8 0.8 1.0"/>
<specular rgb="0.5 0.5 0.5"/>
<ambient rgb="1.0 1.0 1.0"/>
<diffuse rgb="0.8 0.8 0.8"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="MaterialFromMTL"/>
</visual>
<collision>
<geometry>
<mesh filename="collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
<mass value="2.7"/>
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
<link name="link1">
<visual>
<geometry>
<mesh filename="visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="MaterialFromMTL"/>
</visual>
<collision>
<geometry>
<mesh filename="collision/link1_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
<mass value="2.16"/>
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
</inertial>
</link>
<joint name="joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-6.28318530718" soft_upper_limit="6.28318530718"/>
<parent link="link_base"/>
<child link="link1"/>
<origin rpy="0 0 0" xyz="0 0 0.267"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link2">
<visual>
<geometry>
<mesh filename="visual/link2.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="MaterialFromMTL"/>
</visual>
<collision>
<geometry>
<mesh filename="collision/link2_vhacd2.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
<mass value="1.71"/>
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
</inertial>
</link>
<joint name="joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.059" soft_upper_limit="2.059"/>
<parent link="link1"/>
<child link="link2"/>
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link3">
<visual>
<geometry>
<mesh filename="visual/link3.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="MaterialFromMTL"/>
</visual>
<collision>
<geometry>
<mesh filename="collision/link3_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
<mass value="1.384"/>
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
</inertial>
</link>
<joint name="joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.8" soft_upper_limit="0.19198"/>
<parent link="link2"/>
<child link="link3"/>
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-3.8" upper="0.19198" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link4">
<visual>
<geometry>
<mesh filename="visual/link4.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="MaterialFromMTL"/>
</visual>
<collision>
<geometry>
<mesh filename="collision/link4_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
<mass value="1.115"/>
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
</inertial>
</link>
<joint name="joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-6.28318530718" soft_upper_limit="6.28318530718"/>
<parent link="link3"/>
<child link="link4"/>
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link5">
<visual>
<geometry>
<mesh filename="visual/link5.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="MaterialFromMTL"/>
</visual>
<collision>
<geometry>
<mesh filename="collision/link5_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
<mass value="1.275"/>
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
</inertial>
</link>
<joint name="joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.69297" soft_upper_limit="3.14159265359"/>
<parent link="link4"/>
<child link="link5"/>
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1"/>
<limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="link6">
<visual>
<geometry>
<mesh filename="visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Silver"/>
</visual>
<collision>
<geometry>
<mesh filename="visual/link6.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
<mass value="0.1096"/>
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
</inertial>
</link>
<joint name="joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-6.28318530718" soft_upper_limit="6.28318530718"/>
<parent link="link5"/>
<child link="link6"/>
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
<axis xyz="0 0 1"/>
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="camera_link" />
<joint name="camera_link_joint" type="fixed">
<parent link="link6"/>
<child link="camera_link"/>
<origin xyz="0.05 0 0" rpy="3.141592653589793 -0.0 1.5707963267948966"/>
</joint>
<joint name="gripper_fix" type="fixed">
<parent link="link6"/>
<child link="robotiq_arg2f_base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="eef">
<!-- <visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
<material name="red_transparent">
<color rgba="1 0 0 0.5"/>
</material>
</visual> -->
</link>
<joint name="eef_joint" type="fixed">
<parent link="robotiq_arg2f_base_link"/>
<child link="eef"/>
<origin xyz="0 0 0.15" rpy="0 0 0"/>
</joint>
<link name="robotiq_arg2f_base_link">
<inertial>
<origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
<mass value="0.22652"/>
<inertia ixx="0.00020005" ixy="-4.2442E-10" ixz="-2.9069E-10" iyy="0.00017832" iyz="-3.4402E-08" izz="0.00013478"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_base_link.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_base_link.stl"/>
</geometry>
</collision>
</link>
<link name="left_outer_knuckle">
<!--<inertial>
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
<mass value="0.00853198276973456" />
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="outer_knuckle">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="left_outer_finger">
<!--<inertial>
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
<mass value="0.022614240507152" />
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="left_inner_finger">
<!--<inertial>
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
<mass value="0.0104003125914103" />
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="left_inner_finger_pad">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.022 0.00635 0.0375"/>
</geometry>
<material name="white">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.022 0.00635 0.0375"/>
</geometry>
</collision>
</link>
<link name="left_inner_knuckle">
<!--<inertial>
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
<mass value="0.0271177346495152" />
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="right_outer_knuckle">
<!--<inertial>
<origin xyz="-0.000200000000003065 0.0199435877845359 0.0292245259211331" rpy="0 0 0" />
<mass value="0.00853198276973456" />
<inertia ixx="2.89328108496468E-06" ixy="-1.57935047237397E-19" ixz="-1.93980378593255E-19" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_outer_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="right_outer_finger">
<!--<inertial>
<origin xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385" rpy="0 0 0" />
<mass value="0.022614240507152" />
<inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_outer_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="right_inner_finger">
<!--<inertial>
<origin xyz="0.000299999999999317 0.0160078233491243 -0.0136945669206257" rpy="0 0 0" />
<mass value="0.0104003125914103" />
<inertia ixx="2.71909453810972E-06" ixy="1.35402465472579E-21" ixz="-7.1817349065269E-22" iyy="7.69100314106116E-07" iyz="6.74715432769696E-07" izz="2.30315190420171E-06" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_inner_finger.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="right_inner_finger_pad">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.022 0.00635 0.0375"/>
</geometry>
<material name="white">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.022 0.00635 0.0375"/>
</geometry>
</collision>
</link>
<link name="right_inner_knuckle">
<!--<inertial>
<origin xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166" rpy="0 0 0" />
<mass value="0.0271177346495152" />
<inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05" />
</inertial> -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/visual/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
<material name="gray">
<color rgba="0.1 0.1 0.1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_robotiq/collision/robotiq_arg2f_85_inner_knuckle.dae" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="left_outer_knuckle_joint" type="revolute">
<origin rpy="0 0 3.14159265359" xyz="0 -0.0306011 0.054904"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="left_outer_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
</joint>
<joint name="left_outer_finger_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
<parent link="left_outer_knuckle"/>
<child link="left_outer_finger"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="left_inner_knuckle_joint" type="revolute">
<origin rpy="0 0 3.14159265359" xyz="0 -0.0127 0.06142"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="left_inner_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
</joint>
<joint name="left_inner_finger_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
<parent link="left_outer_finger"/>
<child link="left_inner_finger"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.8757" upper="0" velocity="2.0"/>
</joint>
<joint name="left_inner_finger_pad_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
<parent link="left_inner_finger"/>
<child link="left_inner_finger_pad"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="right_outer_knuckle_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0306011 0.054904"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="right_outer_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="0" upper="0.81" velocity="2.0"/>
</joint>
<joint name="right_outer_finger_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0.0315 -0.0041"/>
<parent link="right_outer_knuckle"/>
<child link="right_outer_finger"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="right_inner_knuckle_joint" type="revolute">
<origin rpy="0 0 0.0" xyz="0 0.0127 0.06142"/>
<parent link="robotiq_arg2f_base_link"/>
<child link="right_inner_knuckle"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="0" upper="0.8757" velocity="2.0"/>
</joint>
<joint name="right_inner_finger_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0.0061 0.0471"/>
<parent link="right_outer_finger"/>
<child link="right_inner_finger"/>
<axis xyz="1 0 0"/>
<limit effort="1000" lower="-0.8757" upper="0" velocity="2.0"/>
</joint>
<joint name="right_inner_finger_pad_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 -0.0220203446692936 0.03242"/>
<parent link="right_inner_finger"/>
<child link="right_inner_finger_pad"/>
<axis xyz="0 0 1"/>
</joint>
</robot>