395 lines
8.4 KiB
XML
395 lines
8.4 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="newURDF">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="0.097666 -1.0602 0.016983"
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rpy="0 0 0" />
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<mass
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value="1.0623" />
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<inertia
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ixx="0.00202"
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ixy="7.846E-08"
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ixz="-1.6521E-08"
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iyy="0.0031488"
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iyz="-1.0021E-07"
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izz="0.0051396" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="Link1">
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<inertial>
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<origin
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xyz="0.0070301 -0.00030378 0.044333"
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rpy="0 0 0" />
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<mass
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value="2.3117" />
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<inertia
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ixx="0.0035548"
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ixy="1.4877E-06"
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ixz="3.269E-05"
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iyy="0.0024594"
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iyz="1.066E-06"
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izz="0.0036305" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="j1"
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type="revolute">
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<origin
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xyz="0.18701 -1.0602 0.042134"
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rpy="0 0 1.5708" />
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<parent
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link="base_link" />
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<child
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link="Link1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-15.7"
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upper="15.7"
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effort="60"
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velocity="3.14" />
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</joint>
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<link
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name="Link2">
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<inertial>
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<origin
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xyz="-9.2767E-06 -0.27664 0.019763"
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rpy="0 0 0" />
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<mass
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value="0.9007" />
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<inertia
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ixx="0.0057226"
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ixy="-1.0789E-05"
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ixz="-6.9854E-13"
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iyy="0.00032946"
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iyz="-2.0483E-16"
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izz="0.0060392" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link2.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="j2"
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type="revolute">
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<origin
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xyz="-0.0208 0 0.085"
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rpy="-1.5708 0 -1.5708" />
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<parent
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link="Link1" />
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<child
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link="Link2" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-1.57"
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upper="1.57"
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effort="60"
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velocity="3.14" />
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</joint>
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<link
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name="Link3">
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<inertial>
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<origin
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xyz="0.0016734 -0.086963 -0.059109"
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rpy="0 0 0" />
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<mass
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value="0.72964" />
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<inertia
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ixx="0.00040609"
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ixy="-1.1866E-05"
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ixz="8.3967E-07"
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iyy="0.00028636"
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iyz="4.7151E-08"
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izz="0.00030158" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link3.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.75294 0.75294 0.75294 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="j3"
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type="revolute">
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<origin
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xyz="0 -0.404 0.0563"
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rpy="0 0 -1.5708" />
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<parent
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link="Link2" />
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<child
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link="Link3" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="3"
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effort="3"
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velocity="3.14" />
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</joint>
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<link
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name="Link4">
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<inertial>
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<origin
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xyz="4.9724306803875E-05 -0.00207071321291896 0.143599808817138"
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rpy="0 0 0" />
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<mass
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value="0.60214796640085" />
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<inertia
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ixx="0.000525809010016783"
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ixy="1.23868002227642E-08"
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ixz="-1.24134280805566E-08"
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iyy="0.000546950540891618"
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iyz="1.12515113310339E-06"
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izz="0.000149799542930966" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link4.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="j4"
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type="revolute">
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<origin
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xyz="0.047775 -0.0905 -0.0355"
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rpy="-1.5708 0 -1.5708" />
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<parent
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link="Link3" />
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<child
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link="Link4" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="6.3"
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effort="3"
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velocity="3.14" />
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</joint>
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<link
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name="Link5">
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<inertial>
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<origin
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xyz="-1.00614222916379E-05 0.0581666861440572 -0.0240267717595721"
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rpy="0 0 0" />
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<mass
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value="0.218165546730634" />
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<inertia
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ixx="8.12333089853061E-05"
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ixy="1.14300936029607E-08"
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ixz="-1.13719114058548E-08"
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iyy="8.12745528093048E-05"
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iyz="-5.01183167153332E-07"
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izz="8.39758674297567E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link5.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="j5"
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type="revolute">
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<origin
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xyz="0 0.023 0.241"
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rpy="1.5708 0 3.1416" />
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<parent
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link="Link4" />
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<child
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link="Link5" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-1.75"
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upper="1.75"
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effort="3"
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velocity="3.14" />
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</joint>
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<link
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name="Link6">
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<inertial>
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<origin
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xyz="2.13317252848316E-05 0.000538972898537438 0.0999352955724812"
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rpy="0 0 0" />
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<mass
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value="0.575128999928036" />
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<inertia
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ixx="0.00025728868876434"
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ixy="-1.85839768859793E-06"
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ixz="1.14575058864561E-07"
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iyy="0.000169254451988166"
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iyz="5.60715028730914E-08"
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izz="0.000243919065707014" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link6.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://newURDF/meshes/Link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="j6"
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type="revolute">
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<origin
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xyz="1.4024E-05 0.1065 -0.022997"
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rpy="1.5708 0 3.1416" />
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<parent
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link="Link5" />
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<child
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link="Link6" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="6.3"
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effort="3"
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velocity="3.14" />
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</joint>
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</robot> |