<?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="yunhua_ryhj">
    <link name="base_link">
        <inertial>
            <origin xyz="-0.073946 -7.5783E-05 0.079686" rpy="0 0 0" />
            <mass value="26.825" />
            <inertia ixx="0.29447" ixy="-0.00068906" ixz="-0.0018702" iyy="0.70624" iyz="8.3009E-05" izz="0.88713" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/base_link.STL" />
            </geometry>
            <material name="">
                <color rgba="0.1451 0.1451 0.1451 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/base_link.STL" />
            </geometry>
        </collision>
    </link>
    <link name="link1">
        <inertial>
            <origin xyz="0.040145 -0.0017665 -0.17281" rpy="0 0 0" />
            <mass value="39.487" />
            <inertia ixx="0.98418" ixy="-0.16112" ixz="-0.47642" iyy="1.5184" iyz="-0.10144" izz="1.2525" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link1.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="package://yunhua_ryhj/meshes/link1.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint1" type="revolute">
        <origin xyz="0 0 0.511" rpy="0 0 0" />
        <parent link="base_link" />
        <child link="link1" />
        <axis xyz="0 0 1" />
        <limit lower="-2.617995" upper="2.617995" effort="0" velocity="2.827" />
    </joint>
    <link name="link2">
        <inertial>
            <origin xyz="-0.030086 0.33235 0.14338" rpy="0 0 0" />
            <mass value="11.602" />
            <inertia ixx="0.54948" ixy="0.0072392" ixz="0.0022966" iyy="0.040699" iyz="-0.0016648" izz="0.56667" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link2.STL" />
            </geometry>
            <material name="">
                <color rgba="1 0 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link2.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint2" type="revolute">
        <origin xyz="0.225 0 0" rpy="1.5708 0 0" />
        <parent link="link1" />
        <child link="link2" />
        <axis xyz="0 0 -1" />
        <limit lower="-1.448624" upper="1.570797" effort="0" velocity="2.827" />
    </joint>
    <link name="link3">
        <inertial>
            <origin xyz="0.080981 0.12571 -9.0574E-05" rpy="0 0 0" />
            <mass value="13.961" />
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        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link3.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="package://yunhua_ryhj/meshes/link3.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint3" type="revolute">
        <origin xyz="0 0.76 0" rpy="0 0 0" />
        <parent link="link2" />
        <child link="link3" />
        <axis xyz="0 0 -1" />
        <limit lower="-1.308998" upper="1.186824" effort="0" velocity="3.463" />
    </joint>
    <link name="link4">
        <inertial>
            <origin xyz="-0.0016575 0.026244 0.35186" rpy="0 0 0" />
            <mass value="10.585" />
            <inertia ixx="0.16278" ixy="0.00030377" ixz="0.0018777" iyy="0.18729" iyz="-0.010668" izz="0.051504" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link4.STL" />
            </geometry>
            <material name="">
                <color rgba="1 0 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link4.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint4" type="revolute">
        <origin xyz="0.9915 0.215 0" rpy="0 -1.5708 0" />
        <parent link="link3" />
        <child link="link4" />
        <axis xyz="0 0 -1" />
        <limit lower="-2.356196" upper="2.356196" effort="0" velocity="7.106" />
    </joint>
    <link name="link5">
        <inertial>
            <origin xyz="-5.2388E-05 -0.061382 -0.0003515" rpy="0 0 0" />
            <mass value="1.0093" />
            <inertia ixx="0.0042625" ixy="6.072E-07" ixz="-2.4533E-07" iyy="0.0023268" iyz="-0.00020667" izz="0.0032649" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link5.STL" />
            </geometry>
            <material name="">
                <color rgba="1 0 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link5.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint5" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 3.1416 -1.5708" />
        <parent link="link4" />
        <child link="link5" />
        <axis xyz="0 0 -1" />
        <limit lower="-1.570797" upper="2.268929" effort="0" velocity="5.639" />
    </joint>
    <link name="link6">
        <inertial>
            <origin xyz="-0.073417 -0.00013522 0.2336" rpy="0 0 0" />
            <mass value="0.62764" />
            <inertia ixx="0.0028394" ixy="1.5554E-06" ixz="0.00027709" iyy="0.0011602" iyz="-4.9029E-08" izz="0.0030715" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link6.STL" />
            </geometry>
            <material name="">
                <color rgba="0.75294 0.75294 0.75294 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://yunhua_ryhj/meshes/link6.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint6" type="revolute">
        <origin xyz="0 0 0" rpy="1.5708 0 0" />
        <parent link="link5" />
        <child link="link6" />
        <axis xyz="0 0 1" />
        <limit lower="-3.839726" upper="3.839726" effort="0" velocity="0" />
    </joint>
    <link name="link_flp">
        <collision>
            <geometry>
                <box size="0.0001 0.0001 0.0001" />
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0" />
        </collision>
        <inertial>
            <mass value="0.1" />
            <origin xyz="0 0 0" rpy="0 0 0" />
            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
        </inertial>
    </link>
    <joint name="joint_flp" type="fixed">
        <parent link="link6" />
        <child link="link_flp" />
        <origin rpy="0 0 3.1415926" xyz="0 0 0.140" />
    </joint>
    <link name="link_end" />
    <joint name="joint_end" type="fixed">
        <parent link="link_flp" />
        <child link="link_end" />
        <origin rpy="0.0 0.736255 0.0" xyz="0.085387  0.007948  0.525332" />
    </joint>
    <transmission name="trans_joint1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint6">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint6_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>

