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GenManip-R5a-cuRobo-Assets / R5a.urdf
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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 ([email protected])
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="R5a">
<link
name="base_link">
<inertial>
<origin
xyz="-0.00013359 6.672E-05 0.031672"
rpy="0 0 0" />
<mass
value="0.42272" />
<inertia
ixx="0.00019"
ixy="0.00000"
ixz="0.00000"
iyy="0.00019"
iyz="0.00000"
izz="0.00020" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
<inertial>
<origin
xyz="0.0050395 -0.0077407 0.020897"
rpy="0 0 0" />
<mass
value="0.096804" />
<inertia
ixx="0.00011"
ixy="-0.00001"
ixz="0.00001"
iyy="0.00005"
iyz="-0.00001"
izz="0.00010" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link1.STL" />
</geometry>
<material
name="">
<color
rgba="0.56471 0.56471 0.56471 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link1.STL" />
</geometry>
</collision>
</link>
<joint
name="joint1"
type="revolute">
<origin
xyz="0 0 0.0565"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="link1" />
<axis
xyz="0 0 1" />
<limit
lower="-2.094"
upper="3.1416"
effort="100"
velocity="1000" />
</joint>
<link
name="link2">
<inertial>
<origin
xyz="-0.12992 -0.0011822 -2.6366E-05"
rpy="0 0 0" />
<mass
value="1.1988" />
<inertia
ixx="0.00065"
ixy="0.00008"
ixz="0.00000"
iyy="0.01647"
iyz="0.00000"
izz="0.01646" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link2.STL" />
</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.02 0 0.047"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="0 1 0" />
<limit
lower="-0.1"
upper="3.665"
effort="100"
velocity="1000" />
</joint>
<link
name="link3">
<inertial>
<origin
xyz="0.16181 0.0011723 -0.05455"
rpy="0 0 0" />
<mass
value="0.84082" />
<inertia
ixx="0.00082"
ixy="0.00008"
ixz="-0.00074"
iyy="0.00849"
iyz="0.00001"
izz="0.00834" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link3.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link3.STL" />
</geometry>
</collision>
</link>
<joint
name="joint3"
type="revolute">
<origin
xyz="-0.264 0 0"
rpy="-3.1416 0 0" />
<parent
link="link2" />
<child
link="link3" />
<axis
xyz="0 1 0" />
<limit
lower="-0.1"
upper="3.24"
effort="100"
velocity="1000" />
</joint>
<link
name="link4">
<inertial>
<origin
xyz="0.041751 0.0054236 -0.03337"
rpy="0 0 0" />
<mass
value="0.12432" />
<inertia
ixx="0.00022"
ixy="-0.00002"
ixz="-0.00009"
iyy="0.00025"
iyz="0.00002"
izz="0.00017" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link4.STL" />
</geometry>
<material
name="">
<color
rgba="0.79216 0.81961 0.93333 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link4.STL" />
</geometry>
</collision>
</link>
<joint
name="joint4"
type="revolute">
<origin
xyz="0.245 -5E-05 -0.06"
rpy="0 0 0" />
<parent
link="link3" />
<child
link="link4" />
<axis
xyz="0 1 0" />
<limit
lower="-1.671"
upper="1.671"
effort="100"
velocity="1000" />
</joint>
<link
name="link5">
<inertial>
<origin
xyz="-8.3435E-05 -1.5428E-05 0.052216"
rpy="0 0 0" />
<mass
value="0.63601" />
<inertia
ixx="0.00084"
ixy="0.00000"
ixz="0.00007"
iyy="0.00082"
iyz="0.00000"
izz="0.00026" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link5.STL" />
</geometry>
<material
name="">
<color
rgba="0.69804 0.69804 0.69804 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link5.STL" />
</geometry>
</collision>
</link>
<joint
name="joint5"
type="revolute">
<origin
xyz="0.073914 5E-05 -0.083391"
rpy="0 0 0" />
<parent
link="link4" />
<child
link="link5" />
<axis
xyz="0 0 1" />
<limit
lower="-1.671"
upper="1.671"
effort="100"
velocity="1000" />
</joint>
<link
name="link6">
<inertial>
<origin
xyz="0.041697 2.4368E-05 0.00014464"
rpy="0 0 0" />
<mass
value="0.44089" />
<inertia
ixx="0.00038"
ixy="0.00000"
ixz="0.00000"
iyy="0.00028"
iyz="0.00000"
izz="0.00050" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link6.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link6.STL" />
</geometry>
</collision>
</link>
<joint
name="joint6"
type="revolute">
<origin
xyz="0.025286 0 0.083391"
rpy="3.1416 0 0" />
<parent
link="link5" />
<child
link="link6" />
<axis
xyz="1 0 0" />
<limit
lower="-2.094"
upper="2.094"
effort="100"
velocity="1000" />
</joint>
<link
name="link7">
<inertial>
<origin
xyz="-0.00035522 -0.007827 -0.0029883"
rpy="0 0 0" />
<mass
value="0.064798" />
<inertia
ixx="0.00002"
ixy="0.00000"
ixz="0.00000"
iyy="0.00003"
iyz="0.00000"
izz="0.00003" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link7.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link7.STL" />
</geometry>
</collision>
</link>
<joint
name="joint7"
type="prismatic">
<origin
xyz="0.08657 0.024896 -0.0002436"
rpy="0 0 0" />
<parent
link="link6" />
<child
link="link7" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="0.044"
effort="100"
velocity="1000" />
</joint>
<link
name="link8">
<inertial>
<origin
xyz="-0.000355223470270755 0.00782768751820277 0.00242005642879778"
rpy="0 0 0" />
<mass
value="0.0647981725781684" />
<inertia
ixx="0.00002"
ixy="0.00000"
ixz="0.00000"
iyy="0.00003"
iyz="0.00000"
izz="0.00003" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link8.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/link8.STL" />
</geometry>
</collision>
</link>
<joint
name="joint8"
type="prismatic">
<origin
xyz="0.08657 -0.0249 -0.00024366"
rpy="0 0 0" />
<parent
link="link6" />
<child
link="link8" />
<axis
xyz="0 -1 0" />
<limit
lower="0"
upper="0.044"
effort="100"
velocity="1000" />
</joint>
</robot>