assets/basic40_batch02/t5_automation/preciseflex_400/model.urdf

<?xml version="1.0"?>
<!-- Kinematic-only model: unknown link inertials omitted. Required effort/velocity=0 are disabled placeholders, not physical limits. All component dimensions are assumptions. -->
<robot name="preciseflex_400">
  <link name="base_link" />
  <link name="base">
    <visual>
      <geometry>
        <mesh filename="meshes/base.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.022" rpy="0 0 0" />
      <geometry>
        <box size="0.22 0.2 0.036" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.004" rpy="0 0 0" />
      <geometry>
        <box size="0.21 0.19 0.008" />
      </geometry>
    </collision>
  </link>
  <joint name="base_fixed" type="fixed">
    <parent link="base_link" />
    <child link="base" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="column">
    <visual>
      <geometry>
        <mesh filename="meshes/column.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.06 0 0.354" rpy="0 0 0" />
      <geometry>
        <box size="0.092 0.114 0.628" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.109 0 0.35" rpy="0 0 0" />
      <geometry>
        <box size="0.012 0.106 0.61" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.061 0 0.675" rpy="0 0 0" />
      <geometry>
        <box size="0.103 0.124 0.014" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.01 0 0.351" rpy="0 0 0" />
      <geometry>
        <box size="0.008 0.033 0.589" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.007 -0.044 0.35" rpy="0 0 0" />
      <geometry>
        <box size="0.008 0.011 0.586" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.007 0.044 0.35" rpy="0 0 0" />
      <geometry>
        <box size="0.008 0.011 0.586" />
      </geometry>
    </collision>
  </link>
  <joint name="column_fixed" type="fixed">
    <parent link="base" />
    <child link="column" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="lift">
    <visual>
      <geometry>
        <mesh filename="meshes/lift.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.012 0 0.235" rpy="0 0 0" />
      <geometry>
        <box size="0.044 0.133 0.11" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.027 0 0.235" rpy="0 0 0" />
      <geometry>
        <box size="0.048 0.124 0.074" />
      </geometry>
    </collision>
  </link>
  <joint name="j1_z" type="prismatic">
    <parent link="base_link" />
    <child link="lift" />
    <origin xyz="0 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.4" effort="0" velocity="0" />
  </joint>
  <link name="upper_arm">
    <visual>
      <geometry>
        <mesh filename="meshes/upper_arm.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.051" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.058" length="0.089" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.125 0 0.073" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.105 0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.073" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.0525" length="0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.25 0 0.073" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.0525" length="0.065" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.125 0 0.11" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.088 0.008" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.11" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.044" length="0.008" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.25 0 0.11" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.044" length="0.008" />
      </geometry>
    </collision>
  </link>
  <joint name="j2_shoulder" type="revolute">
    <parent link="lift" />
    <child link="upper_arm" />
    <origin xyz="0 0 0.2" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-1.6231562043547265" upper="1.6231562043547265" effort="0" velocity="0" />
  </joint>
  <link name="forearm">
    <visual>
      <geometry>
        <mesh filename="meshes/forearm.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.116" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.049" length="0.028" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.125 0 0.151" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.083 0.052" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.151" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.0415" length="0.052" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.25 0 0.151" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.0415" length="0.052" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.125 0 0.18" rpy="0 0 0" />
      <geometry>
        <box size="0.25 0.069 0.006" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.18" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.0345" length="0.006" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.25 0 0.18" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.0345" length="0.006" />
      </geometry>
    </collision>
  </link>
  <joint name="j3_elbow" type="revolute">
    <parent link="upper_arm" />
    <child link="forearm" />
    <origin xyz="0.25 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-2.9321531433504737" upper="2.9321531433504737" effort="0" velocity="0" />
  </joint>
  <link name="wrist">
    <visual>
      <geometry>
        <mesh filename="meshes/wrist.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.129" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.036" length="0.075" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.057" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.022" length="0.072" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0 0 0.012" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.039" length="0.018" />
      </geometry>
    </collision>
  </link>
  <joint name="j4_wrist" type="revolute">
    <parent link="forearm" />
    <child link="wrist" />
    <origin xyz="0.25 0 0" rpy="0 0 0" />
    <axis xyz="0 0 1" />
    <limit lower="-16.755160819145562" upper="16.755160819145562" effort="0" velocity="0" />
  </joint>
  <link name="gripper">
    <visual>
      <geometry>
        <mesh filename="meshes/gripper.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0075 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.025 0.14 0.08" />
      </geometry>
    </collision>
  </link>
  <joint name="gripper_fixed" type="fixed">
    <parent link="wrist" />
    <child link="gripper" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="finger_left">
    <visual>
      <geometry>
        <mesh filename="meshes/finger_left.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0525 0.064 0" rpy="0 0 0" />
      <geometry>
        <box size="0.095 0.012 0.08" />
      </geometry>
    </collision>
  </link>
  <joint name="finger_left_fixed" type="fixed">
    <parent link="wrist" />
    <child link="finger_left" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="finger_right">
    <visual>
      <geometry>
        <mesh filename="meshes/finger_right.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0525 -0.064 0" rpy="0 0 0" />
      <geometry>
        <box size="0.095 0.012 0.08" />
      </geometry>
    </collision>
  </link>
  <joint name="finger_right_fixed" type="fixed">
    <parent link="wrist" />
    <child link="finger_right" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="controller">
    <visual>
      <geometry>
        <mesh filename="meshes/controller.obj" />
      </geometry>
    </visual>
  </link>
  <joint name="controller_fixed" type="fixed">
    <parent link="base" />
    <child link="controller" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="power_port">
    <visual>
      <geometry>
        <mesh filename="meshes/power_port.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.5707963267948966 0 0" />
      <geometry>
        <cylinder radius="0.01" length="0.006" />
      </geometry>
    </collision>
  </link>
  <joint name="power_port_fixed" type="fixed">
    <parent link="base" />
    <child link="power_port" />
    <origin xyz="-0.08699999749660492 0.10100000351667404 0.024000000208616257" rpy="0 0 0" />
  </joint>
  <link name="data_port">
    <visual>
      <geometry>
        <mesh filename="meshes/data_port.obj" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.027 0.008 0.014" />
      </geometry>
    </collision>
  </link>
  <joint name="data_port_fixed" type="fixed">
    <parent link="base" />
    <child link="data_port" />
    <origin xyz="-0.03799999877810478 0.10100000351667404 0.02500000037252903" rpy="0 0 0" />
  </joint>
  <link name="tcp" />
  <joint name="tcp_fixed" type="fixed">
    <parent link="wrist" />
    <child link="tcp" />
    <origin xyz=".079 0 0" rpy="0 0 0" />
  </joint>
</robot>