RoboTwin / embodiments /piper /urdf /backup /piper_description copy.urdf
byml's picture
Add files using upload-large-folder tool
66f71ec verified
<?xml version="1.0" encoding="utf-8"?>
<robot
name="piper_description">
<link
name="base_link">
<!-- <inertial>
<origin
xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
rpy="0 0 0" />
<mass
value="0.162352169522719" />
<inertia
ixx="0.000226592553127906"
ixy="-7.33974356968813E-08"
ixz="2.13221970218123E-06"
iyy="0.000269447877479622"
iyz="8.15167478685076E-09"
izz="0.000222318286704" />
</inertial> -->
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="0.00131676031927021 0.000310288842008364 -0.00922874512303438"
rpy="0 0 0" />
<mass
value="0.0978679932242825" />
<inertia
ixx="7.76684558296781E-05"
ixy="1.09084650459916E-07"
ixz="-1.97480532432411E-06"
iyy="9.24967780161546E-05"
iyz="9.91284646834672E-07"
izz="8.24589062407806E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.123"
rpy="0 0 -1.5708" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 0 1" />
<limit
lower="-2.618"
upper="2.618"
effort="100"
velocity="0" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707"
rpy="0 0 0" />
<mass
value="0.289571136953082" />
<inertia
ixx="0.000150112628108228"
ixy="8.58974959950769E-05"
ixz="-1.07428153464285E-06"
iyy="0.00172585302855383"
iyz="-9.93704792239686E-07"
izz="0.00177445942914759" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 -0.10095 -1.5708" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.0156727246030052 0.104466514905741 0.000508486764144372"
rpy="0 0 0" />
<mass
value="0.290583247455324" />
<inertia
ixx="0.000221686352136266"
ixy="-7.57426543992343E-06"
ixz="-6.3700062772173E-07"
iyy="0.000100859162015934"
iyz="-8.16202696860781E-07"
izz="0.000241839316548946" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="0.28503 0 0"
rpy="0 0 1.3826" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 0 1" />
<limit
lower="-2.967"
upper="0"
effort="100"
velocity="1" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612"
rpy="0 0 0" />
<mass
value="0.127087348341362" />
<inertia
ixx="3.82011730423098E-05"
ixy="-4.92358351033589E-08"
ixz="4.89589432983109E-08"
iyy="4.87048555222491E-05"
iyz="6.70802942486707E-08"
izz="4.10592077565155E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.021984 0.25075 0"
rpy="-1.5708 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 0 1" />
<limit
lower="-1.832"
upper="1.832"
effort="100"
velocity="1" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
rpy="0 0 0" />
<mass
value="0.144711209371719" />
<inertia
ixx="4.39644269159173E-05"
ixy="-3.59214840853815E-08"
ixz="-1.89785003257649E-08"
iyy="5.63173857792457E-05"
iyz="-2.15407623722543E-07"
izz="4.88713595021005E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0 0 0"
rpy="1.5708 -0.087266 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 0 1" />
<limit
lower="-1.22"
upper="1.22"
effort="100"
velocity="1" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
rpy="0 0 0" />
<mass
value="0.150196458571266" />
<inertia
ixx="4.31750564711759E-05"
ixy="-2.21295720427027E-08"
ixz="-3.27825836857102E-12"
iyy="9.99756357365307E-05"
iyz="1.10337380549335E-07"
izz="0.000118282295533688" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0 0.091 0.0014165"
rpy="-1.5708 -1.5708 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="1" />
</joint>
<link
name="link7">
<inertial>
<origin
xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
rpy="0 0 0" />
<mass
value="0.0264822500394006" />
<inertia
ixx="9.99782519244544E-06"
ixy="-1.57547595978589E-07"
ixz="-2.71355785017816E-08"
iyy="6.17952364356547E-06"
iyz="-1.58939504838734E-06"
izz="1.42102253390315E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link7.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="prismatic">
<origin
xyz="0 0 0.13503"
rpy="1.5708 0 1.5708" />
<parent
link="link6" />
<child
link="link7" />
<axis
xyz="0 0 -1" />
<limit
lower="-0.038"
upper="0"
effort="100"
velocity="1" />
</joint>
<link
name="link8">
<inertial>
<origin
xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
rpy="0 0 0" />
<mass
value="0.0264822490707451" />
<inertia
ixx="9.99782474142963E-06"
ixy="-1.57547666236405E-07"
ixz="2.71355834243046E-08"
iyy="6.17952362333486E-06"
iyz="1.58939503259658E-06"
izz="1.42102248648757E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link8.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link8.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="prismatic">
<origin
xyz="0 0 0.13503"
rpy="-1.5708 0 1.5708" />
<parent
link="link6" />
<child
link="link8" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0.038"
effort="100"
velocity="1" />
</joint>
<!-- <link
name="link8">
<inertial>
<origin
xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
rpy="0 0 0" />
<mass
value="0.0264822500394006" />
<inertia
ixx="9.99782519244544E-06"
ixy="-1.57547595978589E-07"
ixz="-2.71355785017816E-08"
iyy="6.17952364356547E-06"
iyz="-1.58939504838734E-06"
izz="1.42102253390315E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link8.STL" />
</geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://piper_description/meshes/link8.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="prismatic">
<origin
xyz="-0.037167 0 0.13503"
rpy="1.5708 0 1.5708" />
<parent
link="link6" />
<child
link="link8" />
<axis
xyz="0 0 -1" />
<limit
lower="-0.038"
upper="0"
effort="100"
velocity="1" />
</joint> -->
</robot>