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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from fr3.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="fr3">
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link0">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link0.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link0.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
<mass value="0.629769"/>
<inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link0_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link0_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link0"/>
<child link="fr3_link0_sc"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link1">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link1.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link1.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
<mass value="4.970684"/>
<inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link1_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link1_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link1"/>
<child link="fr3_link1_sc"/>
</joint>
<joint name="fr3_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="fr3_link0"/>
<child link="fr3_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.3093" upper="2.3093" velocity="2.0"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.3093" soft_upper_limit="2.3093"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link2">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link2.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link2.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003141 -0.02872 0.003495"/>
<mass value="0.646926"/>
<inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link2_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link2_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link2"/>
<child link="fr3_link2_sc"/>
</joint>
<joint name="fr3_joint2" type="revolute">
<origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="fr3_link1"/>
<child link="fr3_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-1.5133" upper="1.5133" velocity="1.0"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.5133" soft_upper_limit="1.5133"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link3">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link3.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link3.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
<mass value="3.228604"/>
<inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link3_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link3_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link3"/>
<child link="fr3_link3_sc"/>
</joint>
<joint name="fr3_joint3" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
<parent link="fr3_link2"/>
<child link="fr3_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.4937" upper="2.4937" velocity="1.5"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.4937" soft_upper_limit="2.4937"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link4">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link4.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link4.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
<mass value="3.587895"/>
<inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link4_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link4_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link4"/>
<child link="fr3_link4_sc"/>
</joint>
<joint name="fr3_joint4" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
<parent link="fr3_link3"/>
<child link="fr3_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87.0" lower="-2.7478" upper="-0.4461" velocity="1.25"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.7478" soft_upper_limit="-0.4461"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link5">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link5.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link5.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
<mass value="1.225946"/>
<inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link5_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link5_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link5"/>
<child link="fr3_link5_sc"/>
</joint>
<joint name="fr3_joint5" type="revolute">
<origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
<parent link="fr3_link4"/>
<child link="fr3_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-2.48" upper="2.48" velocity="3.0"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.48" soft_upper_limit="2.48"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link6">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link6.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link6.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
<mass value="1.666555"/>
<inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link6_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link6_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_link6"/>
<child link="fr3_link6_sc"/>
</joint>
<joint name="fr3_joint6" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="fr3_link5"/>
<child link="fr3_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="0.8521" upper="4.2094" velocity="1.5"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="0.8521" soft_upper_limit="4.2094"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_link7">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link7.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link7.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
<mass value="0.735522"/>
<inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
</inertial>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_link7_sc">
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_link7_sc_joint" type="fixed">
<origin rpy="0 0 0.7853981633974483"/>
<parent link="fr3_link7"/>
<child link="fr3_link7_sc"/>
</joint>
<joint name="fr3_joint7" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
<parent link="fr3_link6"/>
<child link="fr3_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12.0" lower="-2.6895" upper="2.6895" velocity="3.0"/>
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.6895" soft_upper_limit="2.6895"/>
<dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
</joint>
<link name="fr3_link8"/>
<joint name="fr3_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="fr3_link7"/>
<child link="fr3_link8"/>
</joint>
<joint name="fr3_hand_joint" type="fixed">
<parent link="fr3_link8"/>
<child link="fr3_hand"/>
<origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
</joint>
<!-- sub-link defining detailed meshes for collision with environment -->
<link name="fr3_hand">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/hand.dae"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>
</link>
<!-- sub-link defining coarse geometries of real robot's internal self-collision -->
<link name="fr3_hand_sc">
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0.04"/>
<geometry>
<cylinder length="0.1" radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.04"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.04"/>
<geometry>
<sphere radius="0.07"/>
</geometry>
</collision>
<collision>
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0.1"/>
<geometry>
<cylinder length="0.1" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin xyz="0 0.05 0.1"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<collision>
<origin xyz="0 -0.05 0.1"/>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
</link>
<!-- fixed joint between both sub-links -->
<joint name="fr3_hand_sc_joint" type="fixed">
<origin rpy="0 0 0"/>
<parent link="fr3_hand"/>
<child link="fr3_hand_sc"/>
</joint>
<!-- Define the hand_tcp frame -->
<link name="fr3_hand_tcp"/>
<joint name="fr3_hand_tcp_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.1034"/>
<parent link="fr3_hand"/>
<child link="fr3_hand_tcp"/>
</joint>
</robot>