2024-9-23_L/ren_yuan/src/a9/urdf/a9.urdf

<?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>
  
</robot>