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6.urdf
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6.urdf
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<robot name = "robot">
<link name="Start">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.6364185776577171 0.9699425513242794 1" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.6364185776577171 0.9699425513242794 1" />
</geometry>
</collision>
</link>
<link name="Link1">
<inertial>
<origin xyz="0 0 0.8449211140104441" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 0.8449211140104441" rpy="0 0 0"/>
<geometry>
<box size="1.6783161142088392 0.48473693792449113 1.2498333384202547" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.8449211140104441" rpy="0 0 0"/>
<geometry>
<box size="1.6783161142088392 0.48473693792449113 1.2498333384202547" />
</geometry>
</collision>
</link>
<link name="Link2">
<inertial>
<origin xyz="0 0.15139453906059552 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0.15139453906059552 0" rpy="0 0 0"/>
<geometry>
<box size="1.518944905950508 0.29102468731912184 0.254202785327515" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0.15139453906059552 0" rpy="0 0 0"/>
<geometry>
<box size="1.518944905950508 0.29102468731912184 0.254202785327515" />
</geometry>
</collision>
</link>
<link name="Link3">
<inertial>
<origin xyz="-0.425810195388971 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.425810195388971 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.6861591239996581 1.1863943241582642 1.7037977156893247" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.425810195388971 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.6861591239996581 1.1863943241582642 1.7037977156893247" />
</geometry>
</collision>
</link>
<link name="Link4">
<inertial>
<origin xyz="-0.23894949073085378 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.23894949073085378 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.47789898146170756 0.6846558250798165 0.6449022380062861" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.23894949073085378 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.47789898146170756 0.6846558250798165 0.6449022380062861" />
</geometry>
</collision>
</link>
<link name="Link5">
<inertial>
<origin xyz="-0.5220092125897103 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.5220092125897103 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.36808046251003 1.2160806827305966 0.22408729274516984" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.5220092125897103 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.36808046251003 1.2160806827305966 0.22408729274516984" />
</geometry>
</collision>
</link>
<link name="Link6">
<inertial>
<origin xyz="-0.9995890888335385 0 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="-0.9995890888335385 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.999178177667077 0.31984058707797736 1.793094035947942" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.9995890888335385 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.999178177667077 0.31984058707797736 1.793094035947942" />
</geometry>
</collision>
</link>
<link name="Link7">
<inertial>
<origin xyz="0 0 -0.9661848130673706" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 0 -0.9661848130673706" rpy="0 0 0"/>
<geometry>
<box size="0.8825360421763968 0.6769525592624085 0.6360122031601121" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.9661848130673706" rpy="0 0 0"/>
<geometry>
<box size="0.8825360421763968 0.6769525592624085 0.6360122031601121" />
</geometry>
</collision>
</link>
<link name="Link8">
<inertial>
<origin xyz="0 -0.9665118656918605 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 -0.9665118656918605 0" rpy="0 0 0"/>
<geometry>
<box size="0.30396906350949154 1.482124998442476 1.0457310511647833" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.9665118656918605 0" rpy="0 0 0"/>
<geometry>
<box size="0.30396906350949154 1.482124998442476 1.0457310511647833" />
</geometry>
</collision>
</link>
<link name="Link9">
<inertial>
<origin xyz="0 -0.2088236650620986 0" rpy="0 0 0"/>
<mass value="1" />
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0 -0.2088236650620986 0" rpy="0 0 0"/>
<geometry>
<box size="1.5445029245068072 0.4176473301241972 0.779772771680638" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.2088236650620986 0" rpy="0 0 0"/>
<geometry>
<box size="1.5445029245068072 0.4176473301241972 0.779772771680638" />
</geometry>
</collision>
</link>
<joint name="Start_Link1" type="revolute">
<parent link="Start"/>
<child link="Link1"/>
<origin rpy="0 0 0" xyz="0 0 0.5" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link2" type="revolute">
<parent link="Start"/>
<child link="Link2"/>
<origin rpy="0 0 0" xyz="0 0.5 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link3" type="revolute">
<parent link="Start"/>
<child link="Link3"/>
<origin rpy="0 0 0" xyz="-0.5 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link3_Link4" type="revolute">
<parent link="Link3"/>
<child link="Link4"/>
<origin rpy="0 0 0" xyz="-0.851620390777942 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link1_Link5" type="revolute">
<parent link="Link1"/>
<child link="Link5"/>
<origin rpy="0 0 0" xyz="-0.7563750744916133 0 0.8449211140104441" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link4_Link6" type="revolute">
<parent link="Link4"/>
<child link="Link6"/>
<origin rpy="0 0 0" xyz="-0.47789898146170756 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link6_Link7" type="revolute">
<parent link="Link6"/>
<child link="Link7"/>
<origin rpy="0 0 0" xyz="-0.9995890888335385 0 -0.896547017973971" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Start_Link8" type="revolute">
<parent link="Start"/>
<child link="Link8"/>
<origin rpy="0 0 0" xyz="0 -0.5 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link1_Link9" type="revolute">
<parent link="Link1"/>
<child link="Link9"/>
<origin rpy="0 0 0" xyz="0 -0.24236846896224556 0.8449211140104441" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link6_Link7" type="revolute">
<parent link="Link6"/>
<child link="Link7"/>
<origin rpy="0 0 0" xyz="1.4405653450867841 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link1_Link8" type="revolute">
<parent link="Link1"/>
<child link="Link8"/>
<origin rpy="0 0 0" xyz="0 0 -1.069063320416559" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link7_Link10" type="revolute">
<parent link="Link7"/>
<child link="Link10"/>
<origin rpy="0 0 0" xyz="0.9985926631695161 0 0.46586188681258245" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link7_Link11" type="revolute">
<parent link="Link7"/>
<child link="Link11"/>
<origin rpy="0 0 0" xyz="0.9985926631695161 0.1424269082305037 0" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link10_Link12" type="revolute">
<parent link="Link10"/>
<child link="Link12"/>
<origin rpy="0 0 0" xyz="0 -0.4843889654903515 0.7444536448718051" />
<axis xyz="0 1 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link10_Link13" type="revolute">
<parent link="Link10"/>
<child link="Link13"/>
<origin rpy="0 0 0" xyz="0 0 1.4889072897436102" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
</robot>