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visfly-beta / urdf /rebot_devarm /reBot-DevArm_fixend_source.urdf
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SimonWSY
Add reBot DevArm URDF assets
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<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="reBot-DevArm_fixend">
<link
name="base_link">
<inertial>
<origin
xyz="-7.849E-06 -1.1531E-06 0.029841"
rpy="0 0 0" />
<mass
value="0.83660000" />
<inertia
ixx="0.00133040"
ixy="0.00000001"
ixz="0.00000000"
iyy="0.00213119"
iyz="0.00000000"
izz="0.00275877" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.62745 0.62745 0.62745 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="0.000113614552951627 -0.000616319527051323 0.0236476372671394"
rpy="0 0 0" />
<mass
value="0.16130000" />
<inertia
ixx="0.00025207"
ixy="0.00000000"
ixz="-0.00002832"
iyy="0.00015464"
iyz="0.00000000"
izz="0.00023416" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="-8.416E-05 0 0.08465"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 0 1" />
<limit
lower="-2.8"
upper="2.8"
effort="27"
velocity="50" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-0.13225622308888 -0.0030617036386309 -0.0308306967030205"
rpy="0 0 0" />
<mass
value="1.32660000" />
<inertia
ixx="0.00073374"
ixy="-0.00000043"
ixz="0.00000851"
iyy="0.01255987"
iyz="0.00000128"
izz="0.01281387" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.020084 0.031625 0.05555"
rpy="-1.5708 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 0 -1" />
<limit
lower="-3.14"
upper="0"
effort="27"
velocity="50" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.121040035791843 -0.0536211076627949 -0.0310137854608077"
rpy="0 0 0" />
<mass
value="0.83530000" />
<inertia
ixx="0.00046807"
ixy="-0.00003456"
ixz="-0.00004260"
iyy="0.00632695"
iyz="0.00000006"
izz="0.00648221" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="join3"
type="revolute">
<origin
xyz="-0.264 0 0"
rpy="0 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="0"
effort="27"
velocity="50" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="0.0608200956293136 -0.0511711906613122 -0.030299458623927"
rpy="0 0 0" />
<mass
value="0.52000000" />
<inertia
ixx="0.00045986"
ixy="0.00024219"
ixz="-0.00000672"
iyy="0.00075258"
iyz="-0.00000535"
izz="0.00066742" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.2426 -0.054 -0.001625"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 0 1" />
<limit
lower="-1.87"
upper="1.57"
effort="7"
velocity="200" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="-0.00502802058982517 1.73866206692364E-06 0.0386233236326755"
rpy="0 0 0" />
<mass
value="0.38300000" />
<inertia
ixx="0.00019772"
ixy="-0.00000062"
ixz="-0.00002426"
iyy="0.00021737"
iyz="0.00000002"
izz="0.00017191" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0.078308 -0.0375 -0.03"
rpy="-1.5708 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 0 1" />
<limit
lower="-1.57"
upper="1.57"
effort="7"
velocity="200" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="3.76418727127126E-06 -0.000100908819946677 0.0253308606425965"
rpy="0 0 0" />
<mass
value="0.36630000" />
<inertia
ixx="0.00015554"
ixy="-0.00000"
ixz="-0.00000"
iyy="0.00015554"
iyz="-0.0000"
izz="0.00013966" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.028008 0 0.04"
rpy="0 1.5708 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="0 0 1" />
<limit
lower="-3.14"
upper="3.14"
effort="7"
velocity="200" />
</joint>
<link
name="end_link">
<inertial>
<origin
xyz="-0.0737654295815033 -9.5080995865868E-06 7.04327840286845E-06"
rpy="0 0 0" />
<mass
value="0.5500000" />
<inertia
ixx="0.00037354"
ixy="-0.00000011"
ixz="0.00000050"
iyy="0.00015830"
iyz="0.00000348"
izz="0.00045353" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/end_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://reBot-DevArm_description_fixend/meshes/end_link.STL" />
</geometry>
</collision>
</link>
<joint
name="end_joint"
type="fixed">
<origin
xyz="0 0 0.15539"
rpy="0 -1.5708 3.1415" />
<parent
link="link6" />
<child
link="end_link" />
<axis
xyz="0 0 0" />
</joint>
</robot>