Datasets:

Axi404
/

GenManip-R5a-cuRobo-Assets

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	<!-- 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
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	<robot
	name="R5a">
	<link
	name="base_link">
	<inertial>
	<origin
	xyz="-0.00013359 6.672E-05 0.031672"
	rpy="0 0 0" />
	<mass
	value="0.42272" />
	<inertia
	ixx="0.00019"
	ixy="0.00000"
	ixz="0.00000"
	iyy="0.00019"
	iyz="0.00000"
	izz="0.00020" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/base_link.STL" />
	</geometry>
	<material
	name="">
	<color
	rgba="0.89804 0.91765 0.92941 1" />
	</material>
	</visual>
	<collision>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/base_link.STL" />
	</geometry>
	</collision>
	</link>
	<link
	name="link1">
	<inertial>
	<origin
	xyz="0.0050395 -0.0077407 0.020897"
	rpy="0 0 0" />
	<mass
	value="0.096804" />
	<inertia
	ixx="0.00011"
	ixy="-0.00001"
	ixz="0.00001"
	iyy="0.00005"
	iyz="-0.00001"
	izz="0.00010" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link1.STL" />
	</geometry>
	<material
	name="">
	<color
	rgba="0.56471 0.56471 0.56471 1" />
	</material>
	</visual>
	<collision>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link1.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint1"
	type="revolute">
	<origin
	xyz="0 0 0.0565"
	rpy="0 0 0" />
	<parent
	link="base_link" />
	<child
	link="link1" />
	<axis
	xyz="0 0 1" />
	<limit
	lower="-2.094"
	upper="3.1416"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link2">
	<inertial>
	<origin
	xyz="-0.12992 -0.0011822 -2.6366E-05"
	rpy="0 0 0" />
	<mass
	value="1.1988" />
	<inertia
	ixx="0.00065"
	ixy="0.00008"
	ixz="0.00000"
	iyy="0.01647"
	iyz="0.00000"
	izz="0.01646" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link2.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="meshes/link2.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint2"
	type="revolute">
	<origin
	xyz="0.02 0 0.047"
	rpy="0 0 0" />
	<parent
	link="link1" />
	<child
	link="link2" />
	<axis
	xyz="0 1 0" />
	<limit
	lower="-0.1"
	upper="3.665"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link3">
	<inertial>
	<origin
	xyz="0.16181 0.0011723 -0.05455"
	rpy="0 0 0" />
	<mass
	value="0.84082" />
	<inertia
	ixx="0.00082"
	ixy="0.00008"
	ixz="-0.00074"
	iyy="0.00849"
	iyz="0.00001"
	izz="0.00834" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link3.STL" />
	</geometry>
	<material
	name="">
	<color
	rgba="0.89804 0.91765 0.92941 1" />
	</material>
	</visual>
	<collision>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link3.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint3"
	type="revolute">
	<origin
	xyz="-0.264 0 0"
	rpy="-3.1416 0 0" />
	<parent
	link="link2" />
	<child
	link="link3" />
	<axis
	xyz="0 1 0" />
	<limit
	lower="-0.1"
	upper="3.24"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link4">
	<inertial>
	<origin
	xyz="0.041751 0.0054236 -0.03337"
	rpy="0 0 0" />
	<mass
	value="0.12432" />
	<inertia
	ixx="0.00022"
	ixy="-0.00002"
	ixz="-0.00009"
	iyy="0.00025"
	iyz="0.00002"
	izz="0.00017" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link4.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="meshes/link4.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint4"
	type="revolute">
	<origin
	xyz="0.245 -5E-05 -0.06"
	rpy="0 0 0" />
	<parent
	link="link3" />
	<child
	link="link4" />
	<axis
	xyz="0 1 0" />
	<limit
	lower="-1.671"
	upper="1.671"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link5">
	<inertial>
	<origin
	xyz="-8.3435E-05 -1.5428E-05 0.052216"
	rpy="0 0 0" />
	<mass
	value="0.63601" />
	<inertia
	ixx="0.00084"
	ixy="0.00000"
	ixz="0.00007"
	iyy="0.00082"
	iyz="0.00000"
	izz="0.00026" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link5.STL" />
	</geometry>
	<material
	name="">
	<color
	rgba="0.69804 0.69804 0.69804 1" />
	</material>
	</visual>
	<collision>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link5.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint5"
	type="revolute">
	<origin
	xyz="0.073914 5E-05 -0.083391"
	rpy="0 0 0" />
	<parent
	link="link4" />
	<child
	link="link5" />
	<axis
	xyz="0 0 1" />
	<limit
	lower="-1.671"
	upper="1.671"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link6">
	<inertial>
	<origin
	xyz="0.041697 2.4368E-05 0.00014464"
	rpy="0 0 0" />
	<mass
	value="0.44089" />
	<inertia
	ixx="0.00038"
	ixy="0.00000"
	ixz="0.00000"
	iyy="0.00028"
	iyz="0.00000"
	izz="0.00050" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link6.STL" />
	</geometry>
	<material
	name="">
	<color
	rgba="0.89804 0.91765 0.92941 1" />
	</material>
	</visual>
	<collision>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link6.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint6"
	type="revolute">
	<origin
	xyz="0.025286 0 0.083391"
	rpy="3.1416 0 0" />
	<parent
	link="link5" />
	<child
	link="link6" />
	<axis
	xyz="1 0 0" />
	<limit
	lower="-2.094"
	upper="2.094"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link7">
	<inertial>
	<origin
	xyz="-0.00035522 -0.007827 -0.0029883"
	rpy="0 0 0" />
	<mass
	value="0.064798" />
	<inertia
	ixx="0.00002"
	ixy="0.00000"
	ixz="0.00000"
	iyy="0.00003"
	iyz="0.00000"
	izz="0.00003" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link7.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="meshes/link7.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint7"
	type="prismatic">
	<origin
	xyz="0.08657 0.024896 -0.0002436"
	rpy="0 0 0" />
	<parent
	link="link6" />
	<child
	link="link7" />
	<axis
	xyz="0 1 0" />
	<limit
	lower="0"
	upper="0.044"
	effort="100"
	velocity="1000" />
	</joint>
	<link
	name="link8">
	<inertial>
	<origin
	xyz="-0.000355223470270755 0.00782768751820277 0.00242005642879778"
	rpy="0 0 0" />
	<mass
	value="0.0647981725781684" />
	<inertia
	ixx="0.00002"
	ixy="0.00000"
	ixz="0.00000"
	iyy="0.00003"
	iyz="0.00000"
	izz="0.00003" />
	</inertial>
	<visual>
	<origin
	xyz="0 0 0"
	rpy="0 0 0" />
	<geometry>
	<mesh
	filename="meshes/link8.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="meshes/link8.STL" />
	</geometry>
	</collision>
	</link>
	<joint
	name="joint8"
	type="prismatic">
	<origin
	xyz="0.08657 -0.0249 -0.00024366"
	rpy="0 0 0" />
	<parent
	link="link6" />
	<child
	link="link8" />
	<axis
	xyz="0 -1 0" />
	<limit
	lower="0"
	upper="0.044"
	effort="100"
	velocity="1000" />
	</joint>
	</robot>