Upload assets/embodiments/ARX-X5/X5A.urdf with huggingface_hub
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assets/embodiments/ARX-X5/X5A.urdf
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| 1 |
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<?xml version="1.0" encoding="utf-8"?><!-- This URDF was automatically created by SolidWorks to URDF
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| 2 |
+
Exporter! Originally created byStephen Brawner (brawner@gmail.com) Commit Version: 1.6.0-4-g7f85cfe
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| 3 |
+
Build Version: 1.6.7995.38578 For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
| 4 |
+
<robot name="X5A">
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| 5 |
+
<link name="base_link">
|
| 6 |
+
<inertial>
|
| 7 |
+
<origin xyz="-3.0001E-05 3.0589E-05 0.027324" rpy="0 0 0" />
|
| 8 |
+
<mass value="0.43995" />
|
| 9 |
+
<inertia ixx="0.00017" ixy="0.00000" ixz="0.00000" iyy="0.00017" iyz="0.00000" izz="0.00016" />
|
| 10 |
+
</inertial>
|
| 11 |
+
<visual>
|
| 12 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="meshes/base_link.STL" />
|
| 15 |
+
</geometry>
|
| 16 |
+
<material name="black">
|
| 17 |
+
<color rgba="0 0 0 1" />
|
| 18 |
+
</material>
|
| 19 |
+
</visual>
|
| 20 |
+
<collision>
|
| 21 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 22 |
+
<geometry>
|
| 23 |
+
<mesh filename="meshes/base_link.STL" />
|
| 24 |
+
</geometry>
|
| 25 |
+
</collision>
|
| 26 |
+
</link>
|
| 27 |
+
<link name="link1">
|
| 28 |
+
<inertial>
|
| 29 |
+
<origin xyz="0.0054231 -0.0080289 0.017086" rpy="0 0 0" />
|
| 30 |
+
<mass value="0.066982" />
|
| 31 |
+
<inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00008" />
|
| 32 |
+
</inertial>
|
| 33 |
+
<visual>
|
| 34 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 35 |
+
<geometry>
|
| 36 |
+
<mesh filename="meshes/link1.STL" />
|
| 37 |
+
</geometry>
|
| 38 |
+
<material name="black">
|
| 39 |
+
<color rgba="0 0 0 1" />
|
| 40 |
+
</material>
|
| 41 |
+
</visual>
|
| 42 |
+
<collision>
|
| 43 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 44 |
+
<geometry>
|
| 45 |
+
<mesh filename="meshes/link1.STL" />
|
| 46 |
+
</geometry>
|
| 47 |
+
</collision>
|
| 48 |
+
</link>
|
| 49 |
+
<joint name="joint1" type="revolute">
|
| 50 |
+
<origin xyz="0 0 0.0605" rpy="0 0 0" />
|
| 51 |
+
<parent link="base_link" />
|
| 52 |
+
<child link="link1" />
|
| 53 |
+
<axis xyz="0 0 1" />
|
| 54 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 55 |
+
</joint>
|
| 56 |
+
<link name="link2">
|
| 57 |
+
<inertial>
|
| 58 |
+
<origin xyz="-0.13237 0.0020852 0.00010549" rpy="0 0 0" />
|
| 59 |
+
<mass value="1.0795" />
|
| 60 |
+
<inertia ixx="0.00051" ixy="0.00001" ixz="-0.00004" iyy="0.01599" iyz="0.00000" izz="0.01605" />
|
| 61 |
+
</inertial>
|
| 62 |
+
<visual>
|
| 63 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 64 |
+
<geometry>
|
| 65 |
+
<mesh filename="meshes/link2.STL" />
|
| 66 |
+
</geometry>
|
| 67 |
+
<material name="black">
|
| 68 |
+
<color rgba="0 0 0 1" />
|
| 69 |
+
</material>
|
| 70 |
+
</visual>
|
| 71 |
+
<collision>
|
| 72 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 73 |
+
<geometry>
|
| 74 |
+
<mesh filename="meshes/link2.STL" />
|
| 75 |
+
</geometry>
|
| 76 |
+
</collision>
|
| 77 |
+
</link>
|
| 78 |
+
<joint name="joint2" type="revolute">
|
| 79 |
+
<origin xyz="0.02 0 0.04" rpy="0 0 0" />
|
| 80 |
+
<parent link="link1" />
|
| 81 |
+
<child link="link2" />
|
| 82 |
+
<axis xyz="0 1 0" />
|
| 83 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 84 |
+
</joint>
|
| 85 |
+
<link name="link3">
|
| 86 |
+
<inertial>
|
| 87 |
+
<origin xyz="0.18531 0.00068376 -0.051638" rpy="0 0 0" />
|
| 88 |
+
<mass value="0.54534" />
|
| 89 |
+
<inertia ixx="0.00036" ixy="-0.00003" ixz="-0.00039" iyy="0.00423" iyz="0.00001" izz="0.00420" />
|
| 90 |
+
</inertial>
|
| 91 |
+
<visual>
|
| 92 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 93 |
+
<geometry>
|
| 94 |
+
<mesh filename="meshes/link3.STL" />
|
| 95 |
+
</geometry>
|
| 96 |
+
<material name="white">
|
| 97 |
+
<color rgba="1 1 1 1" />
|
| 98 |
+
</material>
|
| 99 |
+
</visual>
|
| 100 |
+
<collision>
|
| 101 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 102 |
+
<geometry>
|
| 103 |
+
<mesh filename="meshes/link3.STL" />
|
| 104 |
+
</geometry>
|
| 105 |
+
</collision>
|
| 106 |
+
</link>
|
| 107 |
+
<joint name="joint3" type="revolute">
|
| 108 |
+
<origin xyz="-0.264 0 0" rpy="3.1416 0 0" />
|
| 109 |
+
<parent link="link2" />
|
| 110 |
+
<child link="link3" />
|
| 111 |
+
<axis xyz="0 1 0" />
|
| 112 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 113 |
+
</joint>
|
| 114 |
+
<link name="link4">
|
| 115 |
+
<inertial>
|
| 116 |
+
<origin xyz="0.040231 0.0044807 -0.035335" rpy="0 0 0" />
|
| 117 |
+
<mass value="0.11714" />
|
| 118 |
+
<inertia ixx="0.00019" ixy="-0.00002" ixz="-0.00009" iyy="0.00023" iyz="0.00002" izz="0.00014" />
|
| 119 |
+
</inertial>
|
| 120 |
+
<visual>
|
| 121 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 122 |
+
<geometry>
|
| 123 |
+
<mesh filename="meshes/link4.STL" />
|
| 124 |
+
</geometry>
|
| 125 |
+
<material name="black">
|
| 126 |
+
<color rgba="0 0 0 1" />
|
| 127 |
+
</material>
|
| 128 |
+
</visual>
|
| 129 |
+
<collision>
|
| 130 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 131 |
+
<geometry>
|
| 132 |
+
<mesh filename="meshes/link4.STL" />
|
| 133 |
+
</geometry>
|
| 134 |
+
</collision>
|
| 135 |
+
</link>
|
| 136 |
+
<joint name="joint4" type="revolute">
|
| 137 |
+
<origin xyz="0.245 0 -0.056" rpy="0 0 0" />
|
| 138 |
+
<parent link="link3" />
|
| 139 |
+
<child link="link4" />
|
| 140 |
+
<axis xyz="0 1 0" />
|
| 141 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 142 |
+
</joint>
|
| 143 |
+
<link name="link5">
|
| 144 |
+
<inertial>
|
| 145 |
+
<origin xyz="0.003612 -1.5455E-05 0.055214" rpy="0 0 0" />
|
| 146 |
+
<mass value="0.63488" />
|
| 147 |
+
<inertia ixx="0.00083" ixy="0.00000" ixz="0.00007" iyy="0.00082" iyz="0.00000" izz="0.00026" />
|
| 148 |
+
</inertial>
|
| 149 |
+
<visual>
|
| 150 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 151 |
+
<geometry>
|
| 152 |
+
<mesh filename="meshes/link5.STL" />
|
| 153 |
+
</geometry>
|
| 154 |
+
<material name="black">
|
| 155 |
+
<color rgba="0 0 0 1" />
|
| 156 |
+
</material>
|
| 157 |
+
</visual>
|
| 158 |
+
<collision>
|
| 159 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 160 |
+
<geometry>
|
| 161 |
+
<mesh filename="meshes/link5.STL" />
|
| 162 |
+
</geometry>
|
| 163 |
+
</collision>
|
| 164 |
+
</link>
|
| 165 |
+
<joint name="joint5" type="revolute">
|
| 166 |
+
<origin xyz="0.06775 0.0005 -0.0865" rpy="0 0 0" />
|
| 167 |
+
<parent link="link4" />
|
| 168 |
+
<child link="link5" />
|
| 169 |
+
<axis xyz="0 0 1" />
|
| 170 |
+
<limit lower="-10" upper="10" effort="100" velocity="1000" />
|
| 171 |
+
</joint>
|
| 172 |
+
<link name="link6">
|
| 173 |
+
<inertial>
|
| 174 |
+
<origin xyz="0.041697 2.4368E-05 0.00014464" rpy="0 0 0" />
|
| 175 |
+
<mass value="0.44089" />
|
| 176 |
+
<inertia ixx="0.00038" ixy="0.00000" ixz="0.00000" iyy="0.00028" iyz="0.00000" izz="0.00050" />
|
| 177 |
+
</inertial>
|
| 178 |
+
<visual>
|
| 179 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 180 |
+
<geometry>
|
| 181 |
+
<mesh filename="meshes/link6.STL" />
|
| 182 |
+
</geometry>
|
| 183 |
+
<material name="black">
|
| 184 |
+
<color rgba="0 0 0 1" />
|
| 185 |
+
</material>
|
| 186 |
+
</visual>
|
| 187 |
+
<collision>
|
| 188 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 189 |
+
<geometry>
|
| 190 |
+
<mesh filename="meshes/link6.STL" />
|
| 191 |
+
</geometry>
|
| 192 |
+
</collision>
|
| 193 |
+
</link>
|
| 194 |
+
<joint name="joint6" type="revolute">
|
| 195 |
+
<origin xyz="0.02895 0 0.0865" rpy="-3.1416 0 0" />
|
| 196 |
+
<parent link="link5" />
|
| 197 |
+
<child link="link6" />
|
| 198 |
+
<axis xyz="1 0 0" />
|
| 199 |
+
<limit lower="-3.14" upper="3.14" effort="100" velocity="1000" />
|
| 200 |
+
</joint>
|
| 201 |
+
|
| 202 |
+
<link name="camera_base">
|
| 203 |
+
<visual>
|
| 204 |
+
<origin xyz="0 0 0.0" rpy="0 0 0"/>
|
| 205 |
+
<geometry>
|
| 206 |
+
<mesh filename="meshes/camera_base.glb" />
|
| 207 |
+
</geometry>
|
| 208 |
+
</visual>
|
| 209 |
+
</link>
|
| 210 |
+
<joint name="hand_to_camera_mount" type="fixed">
|
| 211 |
+
<parent link="link6"/>
|
| 212 |
+
<child link="camera_base"/>
|
| 213 |
+
<origin xyz="0.057 0 0" rpy="0 0 -3.1416"/>
|
| 214 |
+
</joint>
|
| 215 |
+
|
| 216 |
+
<link name="camera">
|
| 217 |
+
<visual>
|
| 218 |
+
<origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 -0.0"/>
|
| 219 |
+
<geometry>
|
| 220 |
+
<mesh filename="meshes/camera.glb" />
|
| 221 |
+
</geometry>
|
| 222 |
+
</visual>
|
| 223 |
+
</link>
|
| 224 |
+
<joint name="camera_joint" type="fixed">
|
| 225 |
+
<parent link="camera_base"/>
|
| 226 |
+
<child link="camera"/>
|
| 227 |
+
<origin xyz="-0.0275 0.0 0.05" rpy="0 0.3491 3.141592653589793"/>
|
| 228 |
+
</joint>
|
| 229 |
+
|
| 230 |
+
<link name="link7">
|
| 231 |
+
<inertial>
|
| 232 |
+
<origin xyz="-0.00035522 -0.007827 -0.0029883" rpy="0 0 0" />
|
| 233 |
+
<mass value="0.064798" />
|
| 234 |
+
<inertia ixx="0.00002" ixy="0.00000" ixz="0.00000" iyy="0.00003" iyz="0.00000" izz="0.00003" />
|
| 235 |
+
</inertial>
|
| 236 |
+
<visual>
|
| 237 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 238 |
+
<geometry>
|
| 239 |
+
<mesh filename="meshes/link7.STL" />
|
| 240 |
+
</geometry>
|
| 241 |
+
<material name="black">
|
| 242 |
+
<color rgba="0 0 0 1" />
|
| 243 |
+
</material>
|
| 244 |
+
</visual>
|
| 245 |
+
<collision>
|
| 246 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 247 |
+
<geometry>
|
| 248 |
+
<mesh filename="meshes/link7.STL" />
|
| 249 |
+
</geometry>
|
| 250 |
+
</collision>
|
| 251 |
+
</link>
|
| 252 |
+
<joint name="joint7" type="prismatic">
|
| 253 |
+
<origin xyz="0.08657 0.024896 -0.0002436" rpy="0 0 0" />
|
| 254 |
+
<parent link="link6" />
|
| 255 |
+
<child link="link7" />
|
| 256 |
+
<axis xyz="0 1 0" />
|
| 257 |
+
<limit lower="0" upper="0.044" effort="100" velocity="1000" />
|
| 258 |
+
</joint>
|
| 259 |
+
<link name="link8">
|
| 260 |
+
<inertial>
|
| 261 |
+
<origin xyz="-0.00035522 0.0078277 0.0024201" rpy="0 0 0" />
|
| 262 |
+
<mass value="0.064798" />
|
| 263 |
+
<inertia ixx="0.00002" ixy="0.00000" ixz="0.00000" iyy="0.00003" iyz="0.00000" izz="0.00003" />
|
| 264 |
+
</inertial>
|
| 265 |
+
<visual>
|
| 266 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 267 |
+
<geometry>
|
| 268 |
+
<mesh filename="meshes/link8.STL" />
|
| 269 |
+
</geometry>
|
| 270 |
+
<material name="black">
|
| 271 |
+
<color rgba="0 0 0 1" />
|
| 272 |
+
</material>
|
| 273 |
+
</visual>
|
| 274 |
+
<collision>
|
| 275 |
+
<origin xyz="0 0 0" rpy="0 0 0" />
|
| 276 |
+
<geometry>
|
| 277 |
+
<mesh filename="meshes/link8.STL" />
|
| 278 |
+
</geometry>
|
| 279 |
+
</collision>
|
| 280 |
+
</link>
|
| 281 |
+
<joint name="joint8" type="prismatic">
|
| 282 |
+
<origin xyz="0.08657 -0.0249 -0.00024366" rpy="0 0 0" />
|
| 283 |
+
<parent link="link6" />
|
| 284 |
+
<child link="link8" />
|
| 285 |
+
<axis xyz="0 -1 0" />
|
| 286 |
+
<limit lower="0" upper="0.044" effort="100" velocity="1000" />
|
| 287 |
+
</joint>
|
| 288 |
+
</robot>
|