<?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>
  </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="-1.6"
      upper="1.6"
      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="-1.6"
      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="-2.1"
      upper="2.1"
      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>
  </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">
  </link>

  <joint
  name="joint_end2"
  type="fixed">
    <parent
	link="link_end"/>
    <child
	link="link_end_now"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0  0.0  0.01"/>
  </joint>

  <link name="link_end_now">
  </link>

</robot>
