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baxter_arm.accurate.left.urdf
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baxter_arm.accurate.left.urdf
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<?xml version="1.0" ?>
<robot name="baxter">
<link name="base">
</link>
<link name="left_arm_mount">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.00094542"/>
<inertia ixx="2e-08" ixy="0" ixz="0" iyy="3e-08" iyz="0" izz="2e-08"/>
</inertial>
</link>
<link name="left_upper_shoulder">
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1361"/>
<geometry>
<cylinder length="0.2722" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01783 0.00086 0.19127"/>
<mass value="5.70044"/>
<inertia ixx="0.04709102262" ixy="0.00012787556" ixz="0.00614870039" iyy="0.03766976455" iyz="0.00078086899" izz="0.03595988478"/>
</inertial>
</link>
<link name="left_lower_shoulder">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06845 0.00269 -0.00529"/>
<mass value="3.22698"/>
<inertia ixx="0.01175209419" ixy="-0.00030096398" ixz="0.00207675762" iyy="0.0278859752" iyz="-0.00018821993" izz="0.02078749298"/>
</inertial>
</link>
<link name="left_upper_elbow">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0535"/>
<geometry>
<cylinder length="0.107" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00276 0.00132 0.18086"/>
<mass value="4.31272"/>
<inertia ixx="0.02661733557" ixy="0.00029270634" ixz="0.00392189887" iyy="0.02844355207" iyz="0.0010838933" izz="0.01248008322"/>
</inertial>
</link>
<link name="left_lower_elbow">
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<cylinder length="0.10" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.02611 0.00159 -0.01117"/>
<mass value="2.07206"/>
<inertia ixx="0.00711582686" ixy="0.00036036173" ixz="0.0007459496" iyy="0.01318227876" iyz="-0.00019663418" izz="0.00926852064"/>
</inertial>
</link>
<link name="left_upper_forearm">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.044"/>
<geometry>
<cylinder length="0.088" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.00168 0.0046 0.13952"/>
<mass value="2.24665"/>
<inertia ixx="0.01667742825" ixy="0.00018403705" ixz="0.00018657629" iyy="0.01675457264" iyz="-0.00064732352" izz="0.0037463115"/>
</inertial>
</link>
<link name="left_lower_forearm">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.10" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.06041 0.00697 0.006"/>
<mass value="1.60979"/>
<inertia ixx="0.00387607152" ixy="-0.00044384784" ixz="-0.00021115038" iyy="0.00700537914" iyz="0.00015348067" izz="0.0055275524"/>
</inertial>
</link>
<link name="left_wrist">
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.165" radius="0.06"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.00198 0.00125 0.01855"/>
<mass value="0.35093"/>
<inertia ixx="0.00025289155" ixy="0.00000575311" ixz="-0.00000159345" iyy="0.0002688601" iyz="-0.00000519818" izz="0.0003074118"/>
</inertial>
</link>
<link name="left_hand">
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0232"/>
<geometry>
<cylinder length="0.0464" radius="0.04"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.01093 0.00042 -0.01532"/>
<mass value="0.19125"/>
<inertia ixx="0.00017588" ixy="0.00000147073" ixz="0.0000243633" iyy="0.00021166377" iyz="0.00000172689" izz="0.00023745397"/>
</inertial>
</link>
<link name="left_gripper">
<inertial>
<origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
<mass value="0.00094542"/>
<inertia ixx="2e-08" ixy="0" ixz="0" iyy="3e-08" iyz="0" izz="2e-08"/>
</inertial>
</link>
<joint name="left_torso_arm_mount" type="fixed">
<origin rpy="0 0 0.7854" xyz="0.024645 0.219645 0.118588"/>
<parent link="base"/>
<child link="left_arm_mount"/>
</joint>
<joint name="left_s0" type="revolute">
<origin rpy="0 0 0" xyz="0.055695 0 0.011038"/>
<axis xyz="0 0 1"/>
<parent link="left_arm_mount"/>
<child link="left_upper_shoulder"/>
<limit effort="60.0" lower="-1.70167993878" upper="1.70167993878" velocity="2.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_s1" type="revolute">
<origin rpy="-1.57079632679 0 0" xyz="0.069 0 0.27035"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_shoulder"/>
<child link="left_lower_shoulder"/>
<limit effort="60.0" lower="-2.147" upper="1.047" velocity="2.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_e0" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.102 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_shoulder"/>
<child link="left_upper_elbow"/>
<limit effort="60.0" lower="-3.05417993878" upper="3.05417993878" velocity="2.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_e1" type="revolute">
<origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.069 0 0.26242"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_elbow"/>
<child link="left_lower_elbow"/>
<limit effort="60.0" lower="-0.05" upper="2.618" velocity="2.5"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_w0" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.10359 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_elbow"/>
<child link="left_upper_forearm"/>
<limit effort="20.0" lower="-3.059" upper="3.059" velocity="5.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_w1" type="revolute">
<origin rpy="-1.57079632679 -1.57079632679 0" xyz="0.01 0 0.2707"/>
<axis xyz="0 0 1"/>
<parent link="left_upper_forearm"/>
<child link="left_lower_forearm"/>
<limit effort="20.0" lower="-1.57079632679" upper="2.094" velocity="5.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_w2" type="revolute">
<origin rpy="1.57079632679 0 1.57079632679" xyz="0.115975 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_lower_forearm"/>
<child link="left_wrist"/>
<limit effort="20.0" lower="-3.059" upper="3.059" velocity="5.0"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_hand" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.11355"/>
<axis xyz="0 0 1"/>
<parent link="left_wrist"/>
<child link="left_hand"/>
<dynamics damping="0.7" friction="0.0"/>
</joint>
<joint name="left_endpoint" type="fixed">
<origin rpy="0 0 0" xyz="0.0 0 0.05"/>
<parent link="left_hand"/>
<child link="left_gripper"/>
</joint>
</robot>