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  1. <?xml version="1.0" ?>
  2. <!-- =================================================================================== -->
  3. <!-- | This document was autogenerated by xacro from /workspaces/src/franka_description/robots/fr3/fr3.urdf.xacro | -->
  4. <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
  5. <!-- =================================================================================== -->
  6. <robot name="fr3">
  7. <!-- safety_distance: Minimum safety distance in [m] by which the collision volumes are expanded and which is enforced during robot motions -->
  8. <!-- arm_id: Namespace of the robot arm. Serves to differentiate between arms in case of multiple instances. -->
  9. <!-- 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')} -->
  10. <!-- kinematics: description of the kinematics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/kinematics.yaml')} -->
  11. <!-- inertials: description of the inertials that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/inertials.yaml')} -->
  12. <!-- dynamics: description of the dynamics that comes from a YAML file. Example definition: ${xacro.load_yaml('$(find franka_description)/robots/fr3/dynamics.yaml')} -->
  13. <link name="base">
  14. </link>
  15. <joint name="base_joint" type="fixed">
  16. <parent link="base"/>
  17. <child link="fr3_link0"/>
  18. <origin rpy="0 0 0" xyz="0 0 0"/>
  19. </joint>
  20. <!-- sub-link defining detailed meshes for collision with environment -->
  21. <link name="fr3_link0">
  22. <visual name="fr3_link0_visual">
  23. <geometry>
  24. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link0.dae"/>
  25. </geometry>
  26. </visual>
  27. <collision name="fr3_link0_collision">
  28. <geometry>
  29. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link0.stl"/>
  30. </geometry>
  31. </collision>
  32. <inertial>
  33. <origin rpy="0 0 0" xyz="-0.0172 0.0004 0.0745"/>
  34. <mass value="2.3966"/>
  35. <inertia ixx="0.009" ixy="0.0" ixz="0.002" iyy="0.0115" iyz="0.0" izz="0.0085"/>
  36. </inertial>
  37. </link>
  38. <!-- sub-link defining detailed meshes for collision with environment -->
  39. <link name="fr3_link1">
  40. <visual name="fr3_link1_visual">
  41. <geometry>
  42. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link1.dae"/>
  43. </geometry>
  44. </visual>
  45. <collision name="fr3_link1_collision">
  46. <geometry>
  47. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link1.stl"/>
  48. </geometry>
  49. </collision>
  50. <inertial>
  51. <origin rpy="0 0 0" xyz="0.0000004128 -0.0181251324 -0.0386035970"/>
  52. <mass value="2.9274653454"/>
  53. <inertia ixx="0.023927316485107913" ixy="1.3317903455714081e-05" ixz="-0.00011404774918616684" iyy="0.0224821613275756" iyz="-0.0019950320628240115" izz="0.006350098258530016"/>
  54. </inertial>
  55. </link>
  56. <joint name="fr3_joint1" type="revolute">
  57. <origin rpy="0 0 0" xyz="0 0 0.333"/>
  58. <parent link="fr3_link0"/>
  59. <child link="fr3_link1"/>
  60. <axis xyz="0 0 1"/>
  61. <limit effort="87.0" lower="-2.7437" upper="2.7437" velocity="2.62"/>
  62. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.7437" soft_upper_limit="2.7437"/>
  63. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  64. </joint>
  65. <!-- sub-link defining detailed meshes for collision with environment -->
  66. <link name="fr3_link2">
  67. <visual name="fr3_link2_visual">
  68. <geometry>
  69. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link2.dae"/>
  70. </geometry>
  71. </visual>
  72. <collision name="fr3_link2_collision">
  73. <geometry>
  74. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link2.stl"/>
  75. </geometry>
  76. </collision>
  77. <inertial>
  78. <origin rpy="0 0 0" xyz="0.0031828864 -0.0743221644 0.0088146084"/>
  79. <mass value="2.9355370338"/>
  80. <inertia ixx="0.041938946257609425" ixy="0.00020257331521090626" ixz="0.004077784227179924" iyy="0.02514514885014724" iyz="-0.0042252158006570156" izz="0.06170214472888839"/>
  81. </inertial>
  82. </link>
  83. <joint name="fr3_joint2" type="revolute">
  84. <origin rpy="-1.570796326794897 0 0" xyz="0 0 0"/>
  85. <parent link="fr3_link1"/>
  86. <child link="fr3_link2"/>
  87. <axis xyz="0 0 1"/>
  88. <limit effort="87.0" lower="-1.7837" upper="1.7837" velocity="2.62"/>
  89. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7837" soft_upper_limit="1.7837"/>
  90. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  91. </joint>
  92. <!-- sub-link defining detailed meshes for collision with environment -->
  93. <link name="fr3_link3">
  94. <visual name="fr3_link3_visual">
  95. <geometry>
  96. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link3.dae"/>
  97. </geometry>
  98. </visual>
  99. <collision name="fr3_link3_collision">
  100. <geometry>
  101. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link3.stl"/>
  102. </geometry>
  103. </collision>
  104. <inertial>
  105. <origin rpy="0 0 0" xyz="0.0407015686 -0.0048200565 -0.0289730823"/>
  106. <mass value="2.2449013699"/>
  107. <inertia ixx="0.02410142547240885" ixy="0.002404694559042109" ixz="-0.002856269270114313" iyy="0.01974053266708178" iyz="-0.002104212683891874" izz="0.019044494482244823"/>
  108. </inertial>
  109. </link>
  110. <joint name="fr3_joint3" type="revolute">
  111. <origin rpy="1.570796326794897 0 0" xyz="0 -0.316 0"/>
  112. <parent link="fr3_link2"/>
  113. <child link="fr3_link3"/>
  114. <axis xyz="0 0 1"/>
  115. <limit effort="87.0" lower="-2.9007" upper="2.9007" velocity="2.62"/>
  116. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.9007" soft_upper_limit="2.9007"/>
  117. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  118. </joint>
  119. <!-- sub-link defining detailed meshes for collision with environment -->
  120. <link name="fr3_link4">
  121. <visual name="fr3_link4_visual">
  122. <geometry>
  123. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link4.dae"/>
  124. </geometry>
  125. </visual>
  126. <collision name="fr3_link4_collision">
  127. <geometry>
  128. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link4.stl"/>
  129. </geometry>
  130. </collision>
  131. <inertial>
  132. <origin rpy="0 0 0" xyz="-0.0459100965 0.0630492960 -0.0085187868"/>
  133. <mass value="2.6155955791"/>
  134. <inertia ixx="0.03452998321913202" ixy="0.01322552265982813" ixz="0.01015142998484113" iyy="0.028881621933049058" iyz="-0.0009762833870704552" izz="0.04125471171146641"/>
  135. </inertial>
  136. </link>
  137. <joint name="fr3_joint4" type="revolute">
  138. <origin rpy="1.570796326794897 0 0" xyz="0.0825 0 0"/>
  139. <parent link="fr3_link3"/>
  140. <child link="fr3_link4"/>
  141. <axis xyz="0 0 1"/>
  142. <limit effort="87.0" lower="-3.0421" upper="-0.1518" velocity="2.62"/>
  143. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0421" soft_upper_limit="-0.1518"/>
  144. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  145. </joint>
  146. <!-- sub-link defining detailed meshes for collision with environment -->
  147. <link name="fr3_link5">
  148. <visual name="fr3_link5_visual">
  149. <geometry>
  150. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link5.dae"/>
  151. </geometry>
  152. </visual>
  153. <collision name="fr3_link5_collision">
  154. <geometry>
  155. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link5.stl"/>
  156. </geometry>
  157. </collision>
  158. <inertial>
  159. <origin rpy="0 0 0" xyz="-0.0016039605 0.0292536262 -0.0972965990"/>
  160. <mass value="2.3271207594"/>
  161. <inertia ixx="0.051610278463662895" ixy="-0.005715173387783472" ixz="-0.0035673167625872135" iyy="0.04787729713371481" iyz="0.010673985108535986" izz="0.016423625579357254"/>
  162. </inertial>
  163. </link>
  164. <joint name="fr3_joint5" type="revolute">
  165. <origin rpy="-1.570796326794897 0 0" xyz="-0.0825 0.384 0"/>
  166. <parent link="fr3_link4"/>
  167. <child link="fr3_link5"/>
  168. <axis xyz="0 0 1"/>
  169. <limit effort="12.0" lower="-2.8065" upper="2.8065" velocity="5.26"/>
  170. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8065" soft_upper_limit="2.8065"/>
  171. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  172. </joint>
  173. <!-- sub-link defining detailed meshes for collision with environment -->
  174. <link name="fr3_link6">
  175. <visual name="fr3_link6_visual">
  176. <geometry>
  177. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link6.dae"/>
  178. </geometry>
  179. </visual>
  180. <collision name="fr3_link6_collision">
  181. <geometry>
  182. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link6.stl"/>
  183. </geometry>
  184. </collision>
  185. <inertial>
  186. <origin rpy="0 0 0" xyz="0.0597131221 -0.0410294666 -0.0101692726"/>
  187. <mass value="1.8170376524"/>
  188. <inertia ixx="0.005412333594383447" ixy="0.006193456360285834" ixz="0.0014219289306117652" iyy="0.014058329545509979" iyz="-0.0013140753741120031" izz="0.016080817924212554"/>
  189. </inertial>
  190. </link>
  191. <joint name="fr3_joint6" type="revolute">
  192. <origin rpy="1.570796326794897 0 0" xyz="0 0 0"/>
  193. <parent link="fr3_link5"/>
  194. <child link="fr3_link6"/>
  195. <axis xyz="0 0 1"/>
  196. <limit effort="12.0" lower="0.5445" upper="4.5169" velocity="4.18"/>
  197. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="0.5445" soft_upper_limit="4.5169"/>
  198. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  199. </joint>
  200. <!-- sub-link defining detailed meshes for collision with environment -->
  201. <link name="fr3_link7">
  202. <visual name="fr3_link7_visual">
  203. <geometry>
  204. <mesh filename="package://franka_description/meshes/robot_arms/fr3/visual/link7.dae"/>
  205. </geometry>
  206. </visual>
  207. <collision name="fr3_link7_collision">
  208. <geometry>
  209. <mesh filename="package://franka_description/meshes/robot_arms/fr3/collision/link7.stl"/>
  210. </geometry>
  211. </collision>
  212. <inertial>
  213. <origin rpy="0 0 0" xyz="0.0045225817 0.0086261921 -0.0161633251"/>
  214. <mass value="0.6271432862"/>
  215. <inertia ixx="0.00021092389150104718" ixy="-2.433299114461931e-05" ixz="4.564480393778983e-05" iyy="0.00017718568002411474" iyz="8.744070223226438e-05" izz="5.993190599659971e-05"/>
  216. </inertial>
  217. </link>
  218. <joint name="fr3_joint7" type="revolute">
  219. <origin rpy="1.570796326794897 0 0" xyz="0.088 0 0"/>
  220. <parent link="fr3_link6"/>
  221. <child link="fr3_link7"/>
  222. <axis xyz="0 0 1"/>
  223. <limit effort="12.0" lower="-3.0159" upper="3.0159" velocity="5.26"/>
  224. <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0159" soft_upper_limit="3.0159"/>
  225. <dynamics D="1" K="7000" damping="0.003" friction="0.2" mu_coulomb="0" mu_viscous="16"/>
  226. </joint>
  227. <link name="fr3_link8"/>
  228. <joint name="fr3_joint8" type="fixed">
  229. <origin rpy="0 0 0" xyz="0 0 0.107"/>
  230. <parent link="fr3_link7"/>
  231. <child link="fr3_link8"/>
  232. </joint>
  233. <joint name="fr3_hand_joint" type="fixed">
  234. <parent link="fr3_link8"/>
  235. <child link="fr3_hand"/>
  236. <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
  237. </joint>
  238. <!-- sub-link defining detailed meshes for collision with environment -->
  239. <link name="fr3_hand">
  240. <visual name="fr3_hand_visual">
  241. <geometry>
  242. <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae"/>
  243. </geometry>
  244. </visual>
  245. <collision name="fr3_hand_collision">
  246. <geometry>
  247. <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl"/>
  248. </geometry>
  249. </collision>
  250. <inertial>
  251. <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
  252. <mass value="0.73"/>
  253. <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
  254. </inertial>
  255. </link>
  256. <!-- Define the hand_tcp frame -->
  257. <link name="fr3_hand_tcp"/>
  258. <joint name="fr3_hand_tcp_joint" type="fixed">
  259. <origin rpy="0 0 0" xyz="0 0 0.1034"/>
  260. <parent link="fr3_hand"/>
  261. <child link="fr3_hand_tcp"/>
  262. </joint>
  263. <link name="fr3_leftfinger">
  264. <visual name="fr3_leftfinger_visual">
  265. <geometry>
  266. <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae"/>
  267. </geometry>
  268. </visual>
  269. <!-- screw mount -->
  270. <collision>
  271. <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
  272. <geometry>
  273. <box size="22e-3 15e-3 20e-3"/>
  274. </geometry>
  275. </collision>
  276. <!-- cartriage sledge -->
  277. <collision>
  278. <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
  279. <geometry>
  280. <box size="22e-3 8.8e-3 3.8e-3"/>
  281. </geometry>
  282. </collision>
  283. <!-- diagonal finger -->
  284. <collision>
  285. <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
  286. <geometry>
  287. <box size="17.5e-3 7e-3 23.5e-3"/>
  288. </geometry>
  289. </collision>
  290. <!-- rubber tip with which to grasp -->
  291. <collision>
  292. <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
  293. <geometry>
  294. <box size="17.5e-3 15.2e-3 18.5e-3"/>
  295. </geometry>
  296. </collision>
  297. </link>
  298. <link name="fr3_rightfinger">
  299. <visual name="fr3_rightfinger_visual">
  300. <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
  301. <geometry>
  302. <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae"/>
  303. </geometry>
  304. </visual>
  305. <!-- screw mount -->
  306. <collision>
  307. <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
  308. <geometry>
  309. <box size="22e-3 15e-3 20e-3"/>
  310. </geometry>
  311. </collision>
  312. <!-- cartriage sledge -->
  313. <collision>
  314. <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
  315. <geometry>
  316. <box size="22e-3 8.8e-3 3.8e-3"/>
  317. </geometry>
  318. </collision>
  319. <!-- diagonal finger -->
  320. <collision>
  321. <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
  322. <geometry>
  323. <box size="17.5e-3 7e-3 23.5e-3"/>
  324. </geometry>
  325. </collision>
  326. <!-- rubber tip with which to grasp -->
  327. <collision>
  328. <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
  329. <geometry>
  330. <box size="17.5e-3 15.2e-3 18.5e-3"/>
  331. </geometry>
  332. </collision>
  333. </link>
  334. <joint name="fr3_finger_joint1" type="prismatic">
  335. <parent link="fr3_hand"/>
  336. <child link="fr3_leftfinger"/>
  337. <origin rpy="0 0 0" xyz="0 0 0.0584"/>
  338. <axis xyz="0 1 0"/>
  339. <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
  340. <dynamics damping="0.3"/>
  341. </joint>
  342. <joint name="fr3_finger_joint2" type="prismatic">
  343. <parent link="fr3_hand"/>
  344. <child link="fr3_rightfinger"/>
  345. <origin rpy="0 0 0" xyz="0 0 0.0584"/>
  346. <axis xyz="0 -1 0"/>
  347. <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
  348. <mimic joint="fr3_finger_joint1"/>
  349. <dynamics damping="0.3"/>
  350. </joint>
  351. </robot>
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