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ur5.robot.xml
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ur5.robot.xml
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<?xml version="1.0" encoding="utf-8"?>
<!-- UR5 kinematic body -->
<KinBody name="ur5">
<Body name="link0" type="dynamic">
<translation>0 0 0</translation>
<rotationaxis>1 0 0 0</rotationaxis>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.05 0.03 0.01</Extents>
<diffusecolor>1.0 0.341 0.349</diffusecolor>
</Geom>
</Body>
<Body name="link1" type="dynamic">
<offsetfrom>link0</offsetfrom>
<translation>0 -0.13585 0.089159</translation>
<quat>0 -0.7071 0 0.7071</quat>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.03 0.03 0.01</Extents>
<diffusecolor>0.949 0.557 0.169</diffusecolor>
</Geom>
</Body>
<Joint name="joint0" type="hinge">
<Body>link0</Body>
<Body>link1</Body>
<offsetfrom>link0</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-360 360</limitsdeg>
<maxvel>3</maxvel>
<weight>1</weight>
<resolution>1</resolution>
</Joint>
<Body name="link2" type="dynamic">
<offsetfrom>link1</offsetfrom>
<translation>0 -0.1197 0.425</translation>
<rotationaxis>1 0 0 0</rotationaxis>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.01 0.01 0.01</Extents>
<diffusecolor>0.929 0.788 0.282</diffusecolor>
</Geom>
</Body>
<Joint name="joint1" type="hinge">
<Body>link1</Body>
<Body>link2</Body>
<offsetfrom>link1</offsetfrom>
<axis>0 1 0</axis>
<limitsdeg>-360 360</limitsdeg>
<weight>1</weight>
<maxvel>3</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="link3" type="dynamic">
<offsetfrom>link2</offsetfrom>
<translation>0 0 0.39225</translation>
<rotationaxis>1 0 0 0</rotationaxis>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.01 0.01 0.01</Extents>
<diffusecolor>0.349 0.631 0.310</diffusecolor>
</Geom>
</Body>
<Joint name="joint2" type="hinge">
<Body>link2</Body>
<Body>link3</Body>
<offsetfrom>link2</offsetfrom>
<axis>0 1 0</axis>
<limitsdeg>-360 360</limitsdeg>
<weight>1</weight>
<maxvel>3</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="link4" type="dynamic">
<offsetfrom>link3</offsetfrom>
<translation>0 0.093 0</translation>
<rotationaxis>0 1 0 90</rotationaxis>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.01 0.01 0.01</Extents>
<diffusecolor>0.306 0.475 0.655</diffusecolor>
</Geom>
</Body>
<Joint name="joint3" type="hinge">
<Body>link3</Body>
<Body>link4</Body>
<offsetfrom>link3</offsetfrom>
<axis>0 1 0</axis>
<limitsdeg>-360 360</limitsdeg>
<weight>1</weight>
<maxvel>3</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="link5" type="dynamic">
<offsetfrom>link4</offsetfrom>
<translation>0 0 0.09465</translation>
<rotationaxis>1 0 0 0</rotationaxis>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.01 0.01 0.01</Extents>
<diffusecolor>0.690 0.478 0.631</diffusecolor>
</Geom>
</Body>
<Joint name="joint4" type="hinge">
<Body>link4</Body>
<Body>link5</Body>
<offsetfrom>link4</offsetfrom>
<axis>0 0 1</axis>
<limitsdeg>-360 360</limitsdeg>
<weight>1</weight>
<maxvel>3</maxvel>
<resolution>1</resolution>
</Joint>
<Body name="link6" type="dynamic">
<offsetfrom>link5</offsetfrom>
<translation>0 0.0823 0</translation> <!-- end effector offset can be added here -->
<rotationaxis>-1 0 0 90</rotationaxis>
<Geom type="box">
<translation>0 0 0</translation>
<Extents>0.01 0.01 0.01</Extents>
<diffusecolor>1.0 0.616 0.655</diffusecolor>
</Geom>
</Body>
<Joint name="joint5" type="hinge">
<Body>link5</Body>
<Body>link6</Body>
<offsetfrom>link5</offsetfrom>
<axis>0 1 0</axis>
<limitsdeg>-360 360</limitsdeg>
<weight>1</weight>
<maxvel>3</maxvel>
<resolution>1</resolution>
</Joint>
</KinBody>