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Quella777
2025-08-25 16:30:02 +08:00
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<?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>