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7.urdf
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7.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="0.29306678180163304 0.2886333283398708 0.6840854932353673" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.29306678180163304 0.2886333283398708 0.6840854932353673" />
</geometry>
</collision>
</link>
<link name="Link1">
<inertial>
<origin xyz="0 0 -0.645523913658748" 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 -0.645523913658748" rpy="0 0 0"/>
<geometry>
<box size="0.24309541587240888 1.9520484530180366 1.792565670266386" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.645523913658748" rpy="0 0 0"/>
<geometry>
<box size="0.24309541587240888 1.9520484530180366 1.792565670266386" />
</geometry>
</collision>
</link>
<link name="Link2">
<inertial>
<origin xyz="0 -0.38112569802108265 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 -0.38112569802108265 0" rpy="0 0 0"/>
<geometry>
<box size="1.961536125478573 1.5485578897629 1.2197361155647841" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.38112569802108265 0" rpy="0 0 0"/>
<geometry>
<box size="1.961536125478573 1.5485578897629 1.2197361155647841" />
</geometry>
</collision>
</link>
<link name="Link3">
<inertial>
<origin xyz="0.2670920946739757 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="0.2670920946739757 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.5341841893479514 0.48658991683335984 1.8411355331686885" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.2670920946739757 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.5341841893479514 0.48658991683335984 1.8411355331686885" />
</geometry>
</collision>
</link>
<link name="Link4">
<inertial>
<origin xyz="0 0 0.9538839661886312" 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 0.9538839661886312" rpy="0 0 0"/>
<geometry>
<box size="1.2961067624956535 1.1403079001557022 1.9077679323772625" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.9538839661886312" rpy="0 0 0"/>
<geometry>
<box size="1.2961067624956535 1.1403079001557022 1.9077679323772625" />
</geometry>
</collision>
</link>
<link name="Link5">
<inertial>
<origin xyz="0 0 -0.3336120162059325" 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 -0.3336120162059325" rpy="0 0 0"/>
<geometry>
<box size="1.9491492673268527 1.0248114764208087 0.667224032411865" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 -0.3336120162059325" rpy="0 0 0"/>
<geometry>
<box size="1.9491492673268527 1.0248114764208087 0.667224032411865" />
</geometry>
</collision>
</link>
<link name="Link6">
<inertial>
<origin xyz="0.9325865153952694 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="0.9325865153952694 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.8651730307905388 0.29460192083657444 1.8994289234513033" />
</geometry>
<material name="Blue">
<color rgba="0 0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0.9325865153952694 0 0" rpy="0 0 0"/>
<geometry>
<box size="1.8651730307905388 0.29460192083657444 1.8994289234513033" />
</geometry>
</collision>
</link>
<link name="Link7">
<inertial>
<origin xyz="0 0 0.27815984282378936" 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 0.27815984282378936" rpy="0 0 0"/>
<geometry>
<box size="1.900671058138932 1.0485692391791863 0.5563196856475787" />
</geometry>
<material name="Green">
<color rgba="0 1.0 0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.27815984282378936" rpy="0 0 0"/>
<geometry>
<box size="1.900671058138932 1.0485692391791863 0.5563196856475787" />
</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="Link1_Link2" type="revolute">
<parent link="Link1"/>
<child link="Link2"/>
<origin rpy="0 0 0" xyz="0 -0.9760242265090183 -0.645523913658748" />
<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="0.2670920946739757 0 0.9205677665843442" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link3_Link5" type="revolute">
<parent link="Link3"/>
<child link="Link5"/>
<origin rpy="0 0 0" xyz="0.2670920946739757 0 -0.9205677665843442" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link3_Link6" type="revolute">
<parent link="Link3"/>
<child link="Link6"/>
<origin rpy="0 0 0" xyz="0.5341841893479514 0 0" />
<axis xyz="1 0 0"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
<joint name="Link4_Link7" type="revolute">
<parent link="Link4"/>
<child link="Link7"/>
<origin rpy="0 0 0" xyz="0 0 1.9077679323772625" />
<axis xyz="0 0 1"/>
<limit effort="0.0" lower="-3.14159" upper="3.14159" velocity="0.0"/>
</joint>
</robot>