box/decomp/box_decomp_6dof.urdf

<robot name="box">
  <link name="root">
    <mass value="0.01"/>
  </link>
  <joint name="forearm_tx_link_joint" type="prismatic">
    <parent link="forearm_tx_link"/>
    <child link="forearm_ty_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
  </joint>
  <link name="forearm_tx_link">
    <mass value="0.01"/>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="forearm_ty_link_joint" type="prismatic">
    <parent link="forearm_ty_link"/>
    <child link="forearm_tz_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
  </joint>
  <link name="forearm_ty_link">
    <mass value="0.01"/>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="forearm_tz_link_joint" type="prismatic">
    <parent link="forearm_tz_link"/>
    <child link="forearm_roll_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-5.0" upper="5.0" effort="100" velocity="5"/>
  </joint>
  <link name="forearm_tz_link">
    <mass value="0.01"/>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="forearm_roll_link_joint" type="revolute">
    <parent link="forearm_roll_link"/>
    <child link="forearm_pitch_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
  </joint>
  <link name="forearm_roll_link">
    <mass value="0.01"/>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="forearm_pitch_link_joint" type="revolute">
    <parent link="forearm_pitch_link"/>
    <child link="forearm_yaw_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
  </joint>
  <link name="forearm_pitch_link">
    <mass value="0.01"/>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="forearm_yaw_link_joint" type="revolute">
    <parent link="forearm_yaw_link"/>
    <child link="bottom"/>
    <axis xyz="0 1 0"/>
    <limit lower="-6.2" upper="6.2" effort="100" velocity="5"/>
  </joint>
  <link name="forearm_yaw_link">
    <mass value="0.01"/>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="fixed" type="fixed">
    <parent link="root"/>
    <child link="forearm_tx_link"/>
  </joint>
  <material name="obj_color">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <joint name="rotation" type="revolute">
    <origin xyz="0 0 0"/>
    <axis xyz="0 0 -1"/>
    <parent link="bottom"/>
    <child link="top"/>
    <dynamics damping="0.01" friction="0.0"/>
    <limit effort="50" velocity="50" lower="0" upper="2.6"/>
  </joint>
  <link name="bottom">
    <inertial>
      <origin rpy="0.009578938304163032 0.01383122819087999 0.02210942853910467" xyz="0.06401037477649513 0.1239463244195009 0.0723354468809288"/>
      <mass value="0.9641835016356286"/>
      <inertia ixx="0.01740937106990968" ixy="-0.004100502885264876" ixz="6.424519702369054e-05" iyy="0.01853027980705198" iyz="-9.071681726536037e-05" izz="0.009579944157186033"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny.stl" scale="1 1 1"/>
      </geometry>
      <material name="obj_color"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part0.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part1.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part2.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part3.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part4.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part5.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part6.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="bottom_watertight_tiny_part7.obj"/>
      </geometry>
    </collision>
  </link>
  <link name="top">
    <inertial>
      <origin rpy="0.0009680237751385933 0.001544481910897999 0.002495543214473779" xyz="0.112182930090877 0.07129451557071434 0.07301110853740603"/>
      <mass value="0.13"/>
      <inertia ixx="0.00197330428049181" ixy="-0.0004732898428930508" ixz="-8.666737675085466e-06" iyy="0.002066596029088538" iyz="-2.543344639705717e-06" izz="0.0009681485909300232"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny.stl" scale="1 1 1"/>
      </geometry>
      <material name="obj_color"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part0.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part1.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part2.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part3.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part4.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part5.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part6.obj"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="top_watertight_tiny_part7.obj"/>
      </geometry>
    </collision>
  </link>
</robot>