mycobot_ros/mycobot_description/urdf/280_arduino/noenv.urdf

<?xml version="1.0"?>
<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot_ai_no" >

  <xacro:property name="width" value=".2" />


  <link name="joint1">
    <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="10"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.5" iyz="0.0"
        izz="0.0"/>
  </inertial>
    <visual>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
      <geometry>
	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
        </geometry>
        <origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="joint2">
    <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="0.2"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.5" iyz="0.0"
        izz="0.0"/>
    </inertial>
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.061 " rpy = " 0 0 -1.5708"/>
    </visual>
    <collision>
     <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
      </geometry>
      <origin xyz = "0.0 0 -0.061 " rpy = " 0 0 -1.5708"/>
    </collision>
  </link>

  <link name="joint3">
    <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="0.2"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.5" iyz="0.0"
        izz="0.0"/>
    </inertial>
    <visual>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
      </geometry>
    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
    </visual>
    <collision>
      <geometry>
       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
      </geometry>
      <origin xyz = "0.00 0 0.03256 " rpy = " 0 -1.5708 0"/>
    </collision>
  </link>

<link name="joint4">
  <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="0.2"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.5" iyz="0.0"
        izz="0.0"/>
  </inertial>
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
      </geometry>
      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
      </geometry>
      <origin xyz = "-0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
    </collision>
  </link>


  <link name="joint5">
    <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="0.2"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.5" iyz="0.0"
        izz="0.0"/>
    </inertial>
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
      </geometry>
      <origin xyz = "0.0 0 -0.02956 " rpy = " 0 -1.5708 1.5708"/>
    </visual>
    <collision>
       <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
      </geometry>
      <origin xyz = "0.0 0 -0.02956 " rpy = " 0 -1.5708 1.5708"/>
    </collision>
  </link>


  <link name="joint6">
    <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="0.2"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.5" iyz="0.0"
        izz="0.0"/>
    </inertial>
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
      </geometry>
    <origin xyz = "-0.00 0.0 -0.044 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
      </geometry>
    <origin xyz = "-0.00 0.0 -0.044 " rpy = " 0 0 0"/>
    </collision>
  </link>

  <link name="joint6_flange">
    <inertial>
    <origin xyz="0 0 0.1" rpy="0 0 0"/>
      <mass value="0.1"/>
      <inertia
        ixx="0.0" ixy="0.0" ixz="0.0"
        iyy="0.0" iyz="0.0"
        izz="0.0"/>
    </inertial>
    <visual>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
      </geometry>
    <origin xyz = "-0.00 0.00 -0.014 " rpy = " 0 0 0"/>
    </visual>
    <collision>
      <geometry>
       <!--- 0.0 0 -0.04 -->
       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
      </geometry>
    <origin xyz = "-0.00 0.00 -0.014 " rpy = " 0 0 0"/>
    </collision>
  </link>


  <joint name="joint2_to_joint1" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint1"/>
    <child link="joint2"/>
    <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>
  </joint>

    <joint name="joint3_to_joint2" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint2"/>
    <child link="joint3"/>
    <origin xyz= "0 0 -0.001" rpy = "0 1.5708 -1.5708"/>
  </joint>

  <joint name="joint4_to_joint3" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint3"/>
    <child link="joint4"/>
    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>
  </joint>

  <joint name="joint5_to_joint4" type="revolute">
    <axis xyz=" 0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint4"/>
    <child link="joint5"/>
    <origin xyz= "-0.096 0 0.06062" rpy = "0 0 -1.5708"/>
  </joint>

  <joint name="joint6_to_joint5" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint5"/>
    <child link="joint6"/>
    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
  </joint>

  <joint name="joint6output_to_joint6" type="revolute">
    <axis xyz="0 0 1"/>
    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
    <parent link="joint6"/>
    <child link="joint6_flange"/>
    <origin xyz= "0 0.0486 -0.007" rpy = "-1.5708 0 0"/>
  </joint>








<link name="world"/>

<joint name="fixed" type="fixed">
  <parent link="world"/>
  <child link="joint1"/>
</joint>






</robot>