<?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="mr12urdf20240605">
    <link name="base_link">
        <!-- <inertial>
      <origin
        xyz="-0.0389794721428083 3.18209550907445E-05 0.114464775769165"
        rpy="0 0 0" />
      <mass
        value="27.8470958329326" />
      <inertia
        ixx="0.333719655951858"
        ixy="-0.000162752951771119"
        ixz="-0.0150515703369821"
        iyy="0.572256719027697"
        iyz="6.64144679179418E-05"
        izz="0.74716855955823" />
    </inertial> -->
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/meshes/base_link.STL" />
            </geometry>
            <material name="">
                <color rgba="0 1 1 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/meshes/base_link.STL" />
            </geometry>
        </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>
    <link name="Link1">
        <inertial>
            <origin xyz="0.0015836 0.02481 -0.16429" rpy="0 0 0" />
            <mass value="28.856" />
            <inertia ixx="0.80293" ixy="0.2052" ixz="-0.085925" iyy="0.84748" iyz="-0.048338" izz="0.87668" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/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://mr12urdf20240605/meshes/Link1.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint1" type="revolute">
        <origin xyz="0 0 0.55" rpy="0 0 0" />
        <parent link="base_link" />
        <child link="Link1" />
        <axis xyz="0 0 1" />
        <limit lower="-2.878" upper="2.878" effort="150" velocity="3.541" />
    </joint>
    <link name="Link2">
        <inertial>
            <origin xyz="0.318649688799688 -0.000235571433145232 0.186136694407231" rpy="0 0 0" />
            <mass value="7.80684304255034" />
            <inertia ixx="0.0281236828911867" ixy="0.000281518665603689" ixz="-0.00939923269411962" iyy="0.185870193003645" iyz="1.16807601383937E-05" izz="0.200135929390865" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/meshes/Link2.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://mr12urdf20240605/meshes/Link2.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint2" type="revolute">
        <origin xyz="0.14974 0.035343 0" rpy="1.5708 -1.5708 0" />
        <parent link="Link1" />
        <child link="Link2" />
        <axis xyz="0 0 1" />
        <limit lower="-2.529" upper="1.396" effort="150" velocity="3.541" />
    </joint>
    <link name="Link3">
        <inertial>
            <origin xyz="0.108553296371736 -0.0970725190395638 0.00155584136936515" rpy="0 0 0" />
            <mass value="13.1020677700115" />
            <inertia ixx="0.0894771695987357" ixy="0.00373169975921231" ixz="0.00305911419576535" iyy="0.0755527499176048" iyz="0.00497831742143842" izz="0.0627128517779011" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/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://mr12urdf20240605/meshes/Link3.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint3" type="revolute">
        <origin xyz="0.76075 0 0.033754" rpy="0 0 0" />
        <parent link="Link2" />
        <child link="Link3" />
        <axis xyz="0 0 1" />
        <limit lower="-1.308" upper="2.529" effort="150" velocity="3.733" />
    </joint>
    <link name="Link4">
        <inertial>
            <origin xyz="0.0144892098854688 -0.000636132360795127 -0.376459479520837" rpy="0 0 0" />
            <mass value="8.67998704574409" />
            <inertia ixx="0.466226625992446" ixy="0.000500906822306766" ixz="-0.015294045664646" iyy="0.451075373457536" iyz="0.000649456671583942" izz="0.036563182959402" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/meshes/Link4.STL" />
            </geometry>
            <material name="">
                <color rgba="0 1 1 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/meshes/Link4.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint4" type="revolute">
        <origin xyz="0.19783 -1.0829 0" rpy="1.5708 0 0" />
        <parent link="Link3" />
        <child link="Link4" />
        <axis xyz="0 0 1" />
        <limit lower="-3.314" upper="3.314" effort="88.5" velocity="6.838" />
    </joint>
    <link name="Link5">
        <inertial>
            <origin xyz="-6.1697E-06 -0.048434 -0.0024999" rpy="0 0 0" />
            <mass value="1.2351" />
            <inertia ixx="0.0041541" ixy="-7.1529E-06" ixz="-1.1135E-05" iyy="0.0031617" iyz="0.00015352" izz="0.0035434" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/meshes/Link5.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="package://mr12urdf20240605/meshes/Link5.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint5" type="revolute">
        <origin xyz="0 0 0" rpy="1.5708 1.5708 0" />
        <parent link="Link4" />
        <child link="Link5" />
        <axis xyz="0 0 1" />
        <limit lower="-3.663" upper="0.75" effort="45.52" velocity="4.815" />
    </joint>
    <link name="Link6">
        <inertial>
            <origin xyz="0.048649 -0.00090428 0.27553" rpy="0 0 0" />
            <mass value="1.8877" />
            <inertia ixx="0.0086566" ixy="0.00012203" ixz="-0.00084157" iyy="0.0053122" iyz="0.00012437" izz="0.0064842" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://mr12urdf20240605/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://mr12urdf20240605/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="-3.838" upper="3.838" effort="32.64" velocity="23.655" />
    </joint>
    <joint name="joint_flp" type="fixed">
        <parent link="Link6" />
        <child link="link_flp" />
        <!-- 法兰盘 -->
        <origin rpy=" 0 0 3.1415926" xyz="0  0  0.100" />
    </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_end" type="fixed">
        <parent link="link_flp" />
        <child link="link_end" />
        <origin rpy="0.0 0.325888 3.1415926" xyz="-0.06371  0.004214  0.7387658" />
    </joint>
    <link name="link_end" />
    <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">
            <robotNamespace>/</robotNamespace>
        </plugin>
    </gazebo>
</robot>

