<?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="a9">
    <link name="world" />
    <joint name="world_joint" type="fixed">
        <parent link="world" />
        <child link="base_link" />
        <origin xyz="0.0 0.0 2.17" rpy="0.0 3.14 0.0" />
    </joint>
    <link name="base_link">
        <inertial>
            <origin xyz="-0.110121070288428 -0.0129999995820303 0.159000000973282" rpy="0 0 0" />
            <mass value="0.0148298653353077" />
            <inertia ixx="2.02744416702812E-06" ixy="-1.54215522606031E-15" ixz="-3.37592192750916E-14" iyy="1.40267326461625E-06" iyz="-2.76126618174793E-15" izz="1.40267288470545E-06" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/base_link.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/base_link.STL" />
            </geometry>
        </collision>
    </link>
    <link name="Link_1">
        <inertial>
            <origin xyz="0.802922442229256 0.00984539192698494 1.19598646678643" rpy="0 0 0" />
            <mass value="8.19341168850207" />
            <inertia ixx="0.19323050511757" ixy="0.0386299594946521" ixz="-0.388616965148905" iyy="1.42567974975729" iyz="0.0128991341474255" izz="1.24513273855516" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_1.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_1.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_1" type="revolute">
        <origin xyz="0 0 0.278" rpy="0 0 0" />
        <parent link="base_link" />
        <child link="Link_1" />
        <axis xyz="0 0 1" />
        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
    </joint>
    <link name="Link_2">
        <inertial>
            <origin xyz="0.117746157865896 0.0426453911640452 1.20871486266949" rpy="0 0 0" />
            <mass value="8.19341168850207" />
            <inertia ixx="0.723493788556202" ixy="0.0285843029943905" ixz="-0.653933580723206" iyy="1.42567974975729" iyz="0.0290103266895879" izz="0.714869455116528" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_2.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_2.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_2" type="revolute">
        <origin xyz="0.15 -0.0328 0.172" rpy="0 0.47052 0" />
        <parent link="Link_1" />
        <child link="Link_2" />
        <axis xyz="0 1 0" />
        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
    </joint>
    <link name="Link_3">
        <inertial>
            <origin xyz="0.00164806841162357 0.0743961632896021 -0.0125870623969895" rpy="0 0 0" />
            <mass value="1.10722558532838" />
            <inertia ixx="0.00281804497282514" ixy="1.0820613146504E-05" ixz="-2.30905562044302E-05" iyy="0.00127732014523064" iyz="5.62797076557556E-06" izz="0.0028367630953507" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_3.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_3.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_3" type="revolute">
        <origin xyz="-0.59925 0 0.50037" rpy="0 -0.28892 0" />
        <parent link="Link_2" />
        <child link="Link_3" />
        <axis xyz="0 1 0" />
        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
    </joint>
    <link name="Link_4">
        <inertial>
            <origin xyz="0.751501000756241 -0.00505225715113682 0.690060032582326" rpy="0 0 0" />
            <mass value="8.19341168850207" />
            <inertia ixx="0.419099372956719" ixy="-0.0348631653478693" ixz="-0.581012917159635" iyy="1.42564974048808" iyz="-0.0218580250133829" izz="1.01929387998522" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_4.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_4.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_4" type="revolute">
        <origin xyz="-0.084223 0.0347 0.16884" rpy="-3.119 -1.0471 -0.013042" />
        <parent link="Link_3" />
        <child link="Link_4" />
        <axis xyz="0.86603 0 0.5" />
        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
    </joint>
    <link name="Link_5">
        <inertial>
            <origin xyz="0.206551018322306 -0.00505225715114058 -0.104834036546721" rpy="0 0 0" />
            <mass value="8.19341168850207" />
            <inertia ixx="0.745717188604768" ixy="0.0281122476978264" ixz="-0.653399595391099" iyy="1.42564974048808" iyz="0.030048545471202" izz="0.69267606433717" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_5.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_5.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_5" type="revolute">
        <origin xyz="0.92436 0 0.53588" rpy="3.1416 -0.25867 3.1416" />
        <parent link="Link_4" />
        <child link="Link_5" />
        <axis xyz="0 1 0" />
        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
    </joint>
    <link name="Link_6">
        <inertial>
            <origin xyz="0.12280626304832 0.10284172733946 -0.0673247079199191" rpy="0 0 0" />
            <mass value="8.19341168850207" />
            <inertia ixx="1.25065484857243" ixy="-0.370837141231599" ixz="-0.214061773475593" iyy="0.581725625286335" iyz="-0.544088624970368" izz="1.03166251957125" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_6.STL" />
            </geometry>
            <material name="">
                <color rgba="1 1 0 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_6.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_6" type="revolute">
        <origin xyz="0.037697 -0.0006997 -0.064094" rpy="0.44032 0.19669 -0.83053" />
        <parent link="Link_5" />
        <child link="Link_6" />
        <axis xyz="0.49999 0 -0.86603" />
        <limit lower="-3.8" upper="3.8" effort="0" velocity="0" />
    </joint>
    <link name="Link_7">
        <inertial>
            <origin xyz="0.0296425829147993 -6.47728578861279E-06 0.162281442392356" rpy="0 0 0" />
            <mass value="7.07143232149748" />
            <inertia ixx="0.0103947066541271" ixy="8.00167786886164E-07" ixz="0.00131122028195651" iyy="0.0112643862205598" iyz="-2.38846633634112E-06" izz="0.0065729384023248" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_7.STL" />
            </geometry>
            <material name="">
                <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
            </material>
        </visual>
        <collision>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <geometry>
                <mesh filename="package://a9/meshes/Link_7.STL" />
            </geometry>
        </collision>
    </link>
    <joint name="joint_7" type="fixed">
        <origin xyz="0 0 0" rpy="-2.6972 0.28661 -2.1066" />
        <parent link="Link_6" />
        <child link="Link_7" />
        <axis xyz="0 0 0" />
    </joint>
    <link name="end_link_now" />
    <joint name="end_joint" type="fixed">
        <parent link="Link_7" />
        <child link="end_link_now" />
        <origin xyz="-0.045 0.0 0.4" rpy="0.0 0.4 3.14" />
    </joint>
    <transmission name="trans_joint_1">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_1">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint_1_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint_2">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_2">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint_2_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint_3">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_3">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint_3_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint_4">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_4">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint_4_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint_5">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_5">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint_5_motor">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
        </actuator>
    </transmission>
    <transmission name="trans_joint_6">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_6">
            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint_6_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>

