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fr3.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /workspaces/src/franka_description/robots/fp3/fp3.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="fp3">
<!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
<!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
<!-- joint_limits: description of the joint limits that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/joint_limits.yaml')} -->
<!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
<!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
<!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
<link name="base">
</link>
<joint name="base" type="fixed">
<parent link="base"/>
<child link="fp3_link0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link0">
<visual name="fp3_link0_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link0.dae"/>
</geometry>
</visual>
<collision name="fp3_link0_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link0.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link1">
<visual name="fp3_link1_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link1.dae"/>
</geometry>
</visual>
<collision name="fp3_link1_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link1.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0000004128 -0.0181251324 -0.0386035970"/>
<mass value="2.9274653454"/>
<inertia ixx="0.0186029651" ixy="1.3296e-05" ixz="-0.0001140944" iyy="0.0181195421" iyz="5.33017e-05" izz="0.0053883661"/>
</inertial>
</link>
<joint name="fp3_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="fp3_link0"/>
<child link="fp3_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.7437" upper="2.7437" velocity="2.62"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.7437" soft_upper_limit="2.7437"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link2">
<visual name="fp3_link2_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link2.dae"/>
</geometry>
</visual>
<collision name="fp3_link2_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link2.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0031828864 -0.0743221644 0.0088146084"/>
<mass value="2.9355370338"/>
<inertia ixx="0.0248426123" ixy="0.0012852153" ixz="0.0047668011" iyy="0.0200510561" iyz="-0.0077993576" izz="0.0448935091"/>
</inertial>
</link>
<joint name="fp3_joint2" type="revolute">
<origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="fp3_link1"/>
<child link="fp3_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-1.7837" upper="1.7837" velocity="2.62"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7837" soft_upper_limit="1.7837"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link3">
<visual name="fp3_link3_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link3.dae"/>
</geometry>
</visual>
<collision name="fp3_link3_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link3.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0407015686 -0.0048200565 -0.0289730823"/>
<mass value="2.2449013699"/>
<inertia ixx="0.0206960046" ixy="0.0006503378" ixz="-0.0086867454" iyy="0.0129617222" iyz="-0.0046382675" izz="0.0083748603"/>
</inertial>
</link>
<joint name="fp3_joint3" type="revolute">
<origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/>
<parent link="fp3_link2"/>
<child link="fp3_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.9007" upper="2.9007" velocity="2.62"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.9007" soft_upper_limit="2.9007"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link4">
<visual name="fp3_link4_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link4.dae"/>
</geometry>
</visual>
<collision name="fp3_link4_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link4.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0459100965 0.0630492960 -0.0085187868"/>
<mass value="2.6155955791"/>
<inertia ixx="0.0189656777" ixy="0.0087442604" ixz="0.0154882253" iyy="0.021260554" iyz="-0.0050592943" izz="0.0216050853"/>
</inertial>
</link>
<joint name="fp3_joint4" type="revolute">
<origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/>
<parent link="fp3_link3"/>
<child link="fp3_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-3.0421" upper="-0.1518" velocity="2.62"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0421" soft_upper_limit="-0.1518"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link5">
<visual name="fp3_link5_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link5.dae"/>
</geometry>
</visual>
<collision name="fp3_link5_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link5.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.0016039605 0.0292536262 -0.0972965990"/>
<mass value="2.3271207594"/>
<inertia ixx="0.0274316356" ixy="-0.0054626383" ixz="-0.0045776221" iyy="0.0250087792" iyz="0.0072115131" izz="0.0024232492"/>
</inertial>
</link>
<joint name="fp3_joint5" type="revolute">
<origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/>
<parent link="fp3_link4"/>
<child link="fp3_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-2.8065" upper="2.8065" velocity="5.26"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8065" soft_upper_limit="2.8065"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link6">
<visual name="fp3_link6_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link6.dae"/>
</geometry>
</visual>
<collision name="fp3_link6_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link6.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0597131221 -0.0410294666 -0.0101692726"/>
<mass value="1.8170376524"/>
<inertia ixx="0.000724256" ixy="0.0021884556" ixz="0.0004615138" iyy="0.0072530249" iyz="-0.0006002451" izz="0.0065288729"/>
</inertial>
</link>
<joint name="fp3_joint6" type="revolute">
<origin rpy="1.570796326794897 0 0" xyz="0 0 0"/>
<parent link="fp3_link5"/>
<child link="fp3_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="0.5445" upper="4.5169" velocity="4.18"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="0.5445" soft_upper_limit="4.5169"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fp3_link7">
<visual name="fp3_link7_visual">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/visual/link7.dae"/>
</geometry>
</visual>
<collision name="fp3_link7_collision">
<geometry>
<mesh filename="package://franka_description/meshes/fp3/collision/link7.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.0045225817 0.0086261921 -0.0161633251"/>
<mass value="0.6271432862"/>
<inertia ixx="4.039e-07" ixy="1.875e-07" ixz="-1.593e-07" iyy="2.351e-07" iyz="-2.084e-07" izz="2.838e-07"/>
</inertial>
</link>
<joint name="fp3_joint7" type="revolute">
<origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/>
<parent link="fp3_link6"/>
<child link="fp3_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-3.0159" upper="3.0159" velocity="5.26"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0159" soft_upper_limit="3.0159"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="fp3_link8"/>
<joint name="fp3_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="fp3_link7"/>
<child link="fp3_link8"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<!-- Define the hand_tcp frame -->
</robot>