454 lines
8.8 KiB
XML
454 lines
8.8 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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
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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="RM75-B">
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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="0.00049987 5.2709E-05 0.060019"
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rpy="0 0 0" />
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<mass
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value="1.862" />
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<inertia
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ixx="0.0017232"
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ixy="-3.1058E-06"
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ixz="-3.7924E-05"
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iyy="0.0017051"
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iyz="1.3691E-06"
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izz="0.00090158" />
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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="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="1 1 1 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="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="link_1">
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<inertial>
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<origin
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xyz="0.000241 -0.013273 -0.00995"
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rpy="0 0 0" />
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<mass
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value="1.574" />
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<inertia
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ixx="0.002487573"
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ixy="0.000009663"
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ixz="-0.000007909"
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iyy="0.002321038"
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iyz="0.000179393"
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izz="0.001450554" />
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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="meshes/link_1.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="1 1 1 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="meshes/link_1.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="joint_1"
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type="revolute">
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<origin
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xyz="0 0 0.2405"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="link_1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.106"
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upper="3.106"
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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="link_2">
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<inertial>
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<origin
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xyz="-0.000357 -0.106789 0.005329"
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rpy="0 0 0" />
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<mass
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value="1.217" />
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<inertia
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ixx="0.003494121"
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ixy="0.000002921"
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ixz="-0.000005613"
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iyy="0.000892721"
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iyz="-0.000583884"
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izz="0.003444080" />
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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="meshes/link_2.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="1 1 1 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="meshes/link_2.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="joint_2"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="-1.5708 0 0" />
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<parent
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link="link_1" />
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<child
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link="link_2" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.2689"
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upper="2.2689"
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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="link_3">
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<inertial>
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<origin
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xyz="0.000003 -0.01398 -0.011324"
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rpy="0 0 0" />
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<mass
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value="1.11" />
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<inertia
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ixx="0.001836663"
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ixy="0.000002259"
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ixz="-0.000004216"
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iyy="0.001498875"
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iyz="0.000037167"
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izz="0.001062545" />
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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="meshes/link_3.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="1 1 1 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="meshes/link_3.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="joint_3"
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type="revolute">
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<origin
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xyz="0 -0.256 0"
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rpy="1.5708 0 0" />
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<parent
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link="link_2" />
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<child
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link="link_3" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.106"
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upper="3.106"
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effort="30"
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velocity="3.14" />
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</joint>
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<link
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name="link_4">
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<inertial>
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<origin
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xyz="-0.000005 -0.084658 0.004747"
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rpy="0 0 0" />
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<mass
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value="0.685" />
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<inertia
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ixx="0.001282444"
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ixy="-0.000000551"
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ixz="-0.000000630"
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iyy="0.000373013"
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iyz="-0.000232084"
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izz="0.001256177" />
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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="meshes/link_4.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="1 1 1 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="meshes/link_4.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="joint_4"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="-1.5708 0 0" />
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<parent
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link="link_3" />
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<child
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link="link_4" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.356"
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upper="2.356"
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effort="30"
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velocity="3.14" />
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</joint>
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<link
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name="link_5">
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<inertial>
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<origin
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xyz="0.000078 -0.012937 -0.008781"
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rpy="0 0 0" />
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<mass
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value="0.619" />
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<inertia
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ixx="0.000627336"
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ixy="0.000001636"
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ixz="-0.000001345"
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iyy="0.000542455"
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iyz="0.000034970"
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izz="0.000370291" />
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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="meshes/link_5.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="1 1 1 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="meshes/link_5.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="joint_5"
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type="revolute">
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<origin
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xyz="0 -0.21 0"
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rpy="1.5708 0 0" />
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<parent
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link="link_4" />
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<child
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link="link_5" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.106"
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upper="3.106"
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effort="10"
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velocity="3.14" />
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</joint>
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<link
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name="link_6">
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<inertial>
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<origin
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xyz="-0.000014 -0.078524 0.002819"
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rpy="0 0 0" />
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<mass
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value="0.602" />
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<inertia
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ixx="0.000780774"
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ixy="-0.000000121"
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ixz="-0.000000469"
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iyy="0.000289973"
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iyz="-0.000120513"
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izz="0.000763955" />
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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="meshes/link_6.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="1 1 1 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="meshes/link_6.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="joint_6"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="-1.5708 0 0" />
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<parent
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link="link_5" />
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<child
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link="link_6" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.234"
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upper="2.234"
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effort="10"
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velocity="3.14" />
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</joint>
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<link
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name="link_7">
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<inertial>
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<origin
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xyz="0.001094 -0.000077 -0.010119"
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rpy="0 0 0" />
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<mass
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value="0.107" />
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<inertia
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ixx="0.000044123"
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ixy="-0.000000064"
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ixz="0.0000003"
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iyy="0.000035078"
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iyz="-0.000000029"
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izz="0.000065445" />
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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="meshes/link_7.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="1 1 1 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="meshes/link_7.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="joint_7"
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type="revolute">
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<origin
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xyz="0 -0.144 0"
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rpy="1.5708 0 0" />
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<parent
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link="link_6" />
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<child
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link="link_7" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-6.28"
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upper="6.28"
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effort="10"
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velocity="3.14" />
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</joint>
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</robot>
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