21/robot.urdf

<?xml version='1.0' encoding='utf-8'?>
<robot name="omy_f3m">
  <link name="world" />
  <joint name="world_fixed" type="fixed">
    <parent link="world" />
    <child link="link0" />
    <origin rpy="0 0 0" xyz="0 0 0" />
  </joint>
  <joint name="gripper_fixed" type="fixed">
    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0" />
    <parent link="end_effector_flange_link" />
    <axis xyz="0 0 0" />
    <child link="rh_p12_rn_base" />
  </joint>
  <joint name="end_effector_joint" type="fixed">
    <parent link="end_effector_flange_link" />
    <child link="end_effector_link" />
    <origin rpy="0 0 0" xyz="0 -0.141 0" />
  </joint>
  <link name="end_effector_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1" />
      </material>
    </visual>
  </link>
  <link name="link0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.03" />
      <geometry>
        <cylinder length="0.05" radius="0.08" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02" />
      <mass value="1.528748600e+00" />
      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="link0" />
    <child link="link1" />
    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715" />
    <axis xyz="0 0 1" />
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8" />
    <dynamics damping="0.05" />
  </joint>
  <link name="link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.01 -0.035" />
      <geometry>
        <cylinder length="0.1" radius="0.055" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02" />
      <mass value="2.064883200e+00" />
      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <parent link="link1" />
    <child link="link2" />
    <origin rpy="0 0 0" xyz="0 -0.1215 0.0" />
    <axis xyz="0 1 0" />
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8" />
    <dynamics damping="0.1" />
  </joint>
  <link name="link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13" />
      <geometry>
        <cylinder length="0.28" radius="0.046" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01" />
      <mass value="3.679539500e+00" />
      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <parent link="link2" />
    <child link="link3" />
    <origin rpy="0 0 0" xyz="0 0 0.247" />
    <axis xyz="0 1 0" />
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8" />
    <dynamics damping="0.1" />
  </joint>
  <link name="link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.125 0.08" />
      <geometry>
        <cylinder length="0.17" radius="0.042" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01" />
      <mass value="2.386591600e+00" />
      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <parent link="link3" />
    <child link="link4" />
    <origin rpy="0 0 0" xyz="0 0.1215 0.2195" />
    <axis xyz="0 1 0" />
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8" />
    <dynamics damping="0.1" />
  </joint>
  <link name="link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="1.57 0 0" xyz="0 0 0" />
      <geometry>
        <cylinder length="0.10" radius="0.045" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02" />
      <mass value="1.400234700e+00" />
      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03" />
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <parent link="link4" />
    <child link="link5" />
    <origin rpy="0 0 0" xyz="0 -0.113 0" />
    <axis xyz="0 0 1" />
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8" />
    <dynamics damping="0.1" />
  </joint>
  <link name="link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.01 0.005" />
      <geometry>
        <cylinder length="0.05" radius="0.043" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01" />
      <mass value="1.400234700e+00" />
      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03" />
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <parent link="link5" />
    <child link="link6" />
    <origin rpy="0 0 0" xyz="0 0 0.1155" />
    <axis xyz="0 1 0" />
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8" />
    <dynamics damping="0.1" />
  </joint>
  <link name="link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="1.57 0 0" xyz="0 -0.1 0" />
      <geometry>
        <cylinder length="0.22" radius="0.08" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03" />
      <mass value="4.001547500e-01" />
      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04" />
    </inertial>
  </link>
  
  <joint name="camera_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803" />
    <parent link="link6" />
    <child link="camera_bottom_screw_frame" />
  </joint>
  <link name="camera_bottom_screw_frame" />
  <joint name="camera_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021" />
    <parent link="camera_bottom_screw_frame" />
    <child link="camera_link" />
  </joint>
  <link name="camera_link">
    <visual>
      
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0" />
      <geometry>
        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="aluminum" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0" />
      <geometry>
        <box size="0.023 0.042 0.042" />
      </geometry>
    </collision>
    <inertial>
      
      <mass value="0.072" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257" />
    </inertial>
  </link>
  <joint name="end_effector_flange_joint" type="fixed">
    <parent link="link6" />
    <child link="end_effector_flange_link" />
    <origin rpy="0 0 0" xyz="0 -0.103 0" />
  </joint>
  <link name="end_effector_flange_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.03 0.04" />
      <geometry>
        <cylinder length="0.12" radius="0.035" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00" />
      <mass value="1.661875800e-02" />
      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06" />
    </inertial>
  </link>
  
  <link name="rh_p12_rn_base">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 0.000 0.032" />
      <mass value="0.236" />
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
    </inertial>
  </link>
  
  <joint name="rh_r1_joint" type="revolute">
    <parent link="rh_p12_rn_base" />
    <child link="rh_p12_rn_r1" />
    <origin rpy="0 0 0" xyz="0.0 0.008 0.048" />
    <axis xyz="1 0 0" />
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5" />
    <dynamics damping="0.7" />
  </joint>
  
  <link name="rh_p12_rn_r1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 0.034 0.004" />
      <mass value="0.068" />
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
    </inertial>
  </link>
  
  <joint name="rh_r2" type="revolute">
    <parent link="rh_p12_rn_r1" />
    <child link="rh_p12_rn_r2" />
    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285" />
    <axis xyz="-1 0 0" />
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5" />
    <dynamics damping="0.7" />
    <mimic joint="rh_r1_joint" multiplier="1" />
  </joint>
  
  <link name="rh_p12_rn_r2">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 0.006 0.011" />
      <mass value="0.022" />
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
    </inertial>
  </link>
  
  <joint name="rh_l1" type="revolute">
    <parent link="rh_p12_rn_base" />
    <child link="rh_p12_rn_l1" />
    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048" />
    <axis xyz="-1 0 0" />
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5" />
    <dynamics damping="0.7" />
    <mimic joint="rh_r1_joint" multiplier="1" />
  </joint>
  
  <link name="rh_p12_rn_l1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004" />
      <mass value="0.068" />
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
    </inertial>
  </link>
  
  <joint name="rh_l2" type="revolute">
    <parent link="rh_p12_rn_l1" />
    <child link="rh_p12_rn_l2" />
    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285" />
    <axis xyz="1 0 0" />
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5" />
    <dynamics damping="0.7" />
    <mimic joint="rh_r1_joint" multiplier="1" />
  </joint>
  
  <link name="rh_p12_rn_l2">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1" />
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011" />
      <mass value="0.022" />
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001" />
    </inertial>
  </link>
</robot>