robots/owl65/urdf/owl65.urdf

<?xml version="1.0"?>
<robot name="owl65">

  <!-- Base Link -->
  <link name="base_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="2.39"/>
      <inertia ixx="0.0060063" ixy="0" ixz="0" iyy="0.0095451" iyz="0" izz="0.006006"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/base_link.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/base_link.stl"/>
      </geometry>
    </collision>
  </link>

  <!-- Shoulder Link -->
  <link name="shoulder_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="4.613"/>
      <inertia ixx="0.0035279" ixy="0" ixz="0" iyy="0.0046955" iyz="0" izz="0.0048177"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/shoulder_link.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/shoulder_link.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="BJ" type="revolute">
    <origin xyz="0 0 0" rpy="-3.1416 0 0"/>
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14" upper="3.14" effort="500" velocity="50"/>
  </joint>

  <!-- Link1 -->
  <link name="link1">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="9.431"/>
      <inertia ixx="0.0052455" ixy="0" ixz="0" iyy="0.028778" iyz="0" izz="0.032177"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/link1.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/link1.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="SJ" type="revolute">
    <origin xyz="0.00018339 0.066603 -0.1405" rpy="0.58944 1.5675 -0.983"/>
    <parent link="shoulder_link"/>
    <child link="link1"/>
    <axis xyz="0.0027142 -0.0011243 1"/>
    <limit lower="-1.6" upper="1.6" effort="500" velocity="50"/>
  </joint>
  <!-- Elbow Link -->
  <link name="elbow_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="4.613"/>
      <inertia ixx="0.0023499" ixy="0" ixz="0" iyy="0.0030181" iyz="0" izz="0.0035661"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/elbow_link.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/elbow_link.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="EJ" type="revolute">
    <origin xyz="0.35575 0 -0.00096557" rpy="3.1389 -0.0018334 -1.5781"/>
    <parent link="link1"/>
    <child link="elbow_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.8" upper="3.14" effort="500" velocity="50"/>
  </joint>

  <!-- Link2 -->
  <link name="link2">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="2.4407"/>
      <inertia ixx="0.009134" ixy="0" ixz="0" iyy="0.010823" iyz="0" izz="0.0041094"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/link2.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/link2.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="W1J" type="revolute">
    <origin xyz="0.00019567 -0.079361 -0.066603" rpy="1.5708 -0.0023608 0"/>
    <parent link="elbow_link"/>
    <child link="link2"/>
    <axis xyz="0 0 -1"/>
    <limit lower="-2.84489" upper="2.84489" effort="500" velocity="50"/>
  </joint>

  <!-- W2W3 Link -->
  <link name="w2w3_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="3.118"/>
      <inertia ixx="0.0014884" ixy="0" ixz="0" iyy="0.0016882" iyz="0" izz="0.0019291"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/w2w3_link.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/w2w3_link.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="W2J" type="revolute">
    <origin xyz="0 0 0.27639" rpy="2.745 -1.5667 -1.1726"/>
    <parent link="link2"/>
    <child link="w2w3_link"/>
    <axis xyz="0.0037507 -0.00083382 0.99999"/>
    <limit lower="-1.6" upper="0.78" effort="500" velocity="50"/>
  </joint>
  <!-- End Effector Link -->
  <link name="end_effector_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.188"/>
      <inertia ixx="0.00017935" ixy="0" ixz="0" iyy="0.00017907" iyz="0" izz="0.00025742"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes/visual/owl_robot/end_effector_link.stl"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/owl_robot/end_effector_link.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="W3J" type="revolute">
    <origin xyz="0 0 0" rpy="-1.2578 -1.5668 -0.31786"/>
    <parent link="w2w3_link"/>
    <child link="end_effector_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1" upper="3.1" effort="500" velocity="50"/>
  </joint>

  <!-- TCP Link -->
  <link name="tcp">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="1e-9"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>

  <joint name="tcp_frame" type="fixed">
    <origin xyz="4.33681e-19 0 0.1225" rpy="5.94633e-15 -1.33504e-14 -1.5708"/>
    <parent link="end_effector_link"/>
    <child link="tcp"/>
  </joint>

</robot>