gazebo_models/ur10/ur10.sdf

<?xml version='1.0'?>
<sdf version='1.5'>
  <model name='ur10'>
    <link name='base'>
      <inertial>
        <mass>4</mass>
        <inertia>
          <ixx>0.00610633</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00610633</iyy>
          <iyz>0</iyz>
          <izz>0.01125</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
      <pose>0 0 0.019 0 -0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.075</radius>
            <length>0.038</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/base.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>
    <link name='shoulder'>
      <pose>0 0 .1273 0 -0 0</pose>
      <inertial>
        <mass>7.778</mass>
        <inertia>
          <ixx>0.0314743</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.0314743</iyy>
          <iyz>0</iyz>
          <izz>0.0218756</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <geometry>
          <cylinder>
            <radius>0.075</radius>
            <length>0.177</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/shoulder.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name='upper_arm'>
      <pose>0 0.220941 0.1273 3.14159 1.57079 3.14159</pose>
      <inertial>
        <pose>0 0 0.306 0 0 0</pose>
        <mass>12.93</mass>
        <inertia>
          <ixx>0.421754</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.421754</iyy>
          <iyz>0</iyz>
          <izz>0.0363656</izz>
        </inertia>
      </inertial>

      <collision name='collision1'>
        <pose>0 -0.045 0 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.075</radius>
            <length>0.177</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name='collision2'>
        <pose>0 -0.0436 0.32 0 0 1.5707</pose>
        <geometry>
          <cylinder>
            <radius>0.058</radius>
            <length>0.461</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name='collision3'>
        <pose>0 -0.040 0.613 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.058</radius>
            <length>0.129</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name='visual'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/upperarm.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name='forearm'>
      <pose>0.612 0.049041 0.1273 3.14159 1.57079 3.14159</pose>
      <inertial>
        <pose>0 0 0.28615 0 -0 0</pose>
        <mass>3.87</mass>
        <inertia>
          <ixx>0.11107</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.11107</iyy>
          <iyz>0</iyz>
          <izz>0.0108844</izz>
        </inertia>
      </inertial>
      <collision name='collision1'>
        <pose>0 0 0.001 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.058</radius>
            <length>0.136</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name='collision2'>
        <pose>0 0 0.305 0 0 1.5707</pose>
        <geometry>
          <cylinder>
            <radius>0.045</radius>
            <length>0.447</length>
          </cylinder>
        </geometry>
      </collision>

      <collision name='collision3'>
        <pose>0 0.001 0.5735 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.045</radius>
            <length>0.119</length>
          </cylinder>
        </geometry>
      </collision>

      <visual name='visua'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/forearm.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name='wrist_1'>
      <pose>1.1843 0.049041 0.1273 3.14159 3.58979e-09 3.14159</pose>
      <inertial>
        <mass>1.96</mass>
        <inertia>
          <ixx>0.00510825</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00510825</iyy>
          <iyz>0</iyz>
          <izz>0.0055125</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <pose>0 0.115 0.0025 0 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0455</radius>
            <length>0.119</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/wrist1.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name='wrist_2'>
      <pose>1.1843 0.163941 0.1273 3.14159 3.58979e-09 3.14159</pose>
      <inertial>
        <mass>1.96</mass>
        <inertia>
          <ixx>0.00510825</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00510825</iyy>
          <iyz>0</iyz>
          <izz>0.0055125</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <pose>0 0.002 0.11659 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.0455</radius>
            <length>0.119</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/wrist2.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <link name='wrist_3'>
      <pose>1.1843 0.163941 0.0116 3.14159 3.58979e-09 3.14159</pose>
      <inertial>
        <mass>0.202</mass>
        <inertia>
          <ixx>0.000526462</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.000526462</iyy>
          <iyz>0</iyz>
          <izz>0.000568125</izz>
        </inertia>
      </inertial>
      <collision name='collision'>
        <pose>0 0.0765 0 1.5707 0 0</pose>
        <geometry>
          <cylinder>
            <radius>0.045</radius>
            <length>0.031</length>
          </cylinder>
        </geometry>
      </collision>
      <visual name='visual'>
        <geometry>
          <mesh>
            <uri>model://ur10/meshes/wrist3.dae</uri>
          </mesh>
        </geometry>
      </visual>
    </link>

    <joint name='shoulder_pan' type='revolute'>
      <child>shoulder</child>
      <parent>base</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>330</effort>
          <velocity>2.16</velocity>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='shoulder_lift' type='revolute'>
      <child>upper_arm</child>
      <parent>shoulder</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>330</effort>
          <velocity>2.16</velocity>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='elbow' type='revolute'>
      <child>forearm</child>
      <parent>upper_arm</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>150</effort>
          <velocity>3.15</velocity>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='wrist_1' type='revolute'>
      <child>wrist_1</child>
      <parent>forearm</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>54</effort>
          <velocity>3.2</velocity>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='wrist_2' type='revolute'>
      <child>wrist_2</child>
      <parent>wrist_1</parent>
      <axis>
        <xyz>3.58979e-09 0 -1</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>54</effort>
          <velocity>3.2</velocity>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>

    <joint name='wrist_3' type='revolute'>
      <child>wrist_3</child>
      <parent>wrist_2</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-6.28319</lower>
          <upper>6.28319</upper>
          <effort>54</effort>
          <velocity>3.2</velocity>
        </limit>
        <use_parent_model_frame>1</use_parent_model_frame>
      </axis>
    </joint>
  </model>
</sdf>