robots/Kinova_Gen3/urdf/gen3.urdf

<?xml version="1.0" encoding="UTF-8"?>
<robot name="gen3">
  <joint name="end_effector" type="fixed">
    <origin xyz="-0.061525 -0. 0. " rpy="3.1415927 0. -0. "/>
    <parent link="bracelet_link"/>
    <child link="end_effector_link"/>
  </joint>
  <joint name="joint_1" type="continuous">
    <origin xyz="0. 0. 0.15643" rpy="-1.5707964 1.5707891 1.5707964"/>
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <axis xyz="1. 0. 0."/>
  </joint>
  <joint name="joint_2" type="revolute">
    <origin xyz="-0.12838 0.005375 0. " rpy="0. 0. -1.5708"/>
    <parent link="shoulder_link"/>
    <child link="half_arm_1_link"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.4099999" upper="2.4099999" effort="2340." velocity="1.3963"/>
  </joint>
  <joint name="joint_3" type="continuous">
    <origin xyz="-0.006375 -0.21038 0. " rpy="0. 0. 1.5707998"/>
    <parent link="half_arm_1_link"/>
    <child link="half_arm_2_link"/>
    <axis xyz="1. 0. 0."/>
  </joint>
  <joint name="joint_4" type="revolute">
    <origin xyz="-0.21038 0.006375 0. " rpy="0. 0. -1.5707998"/>
    <parent link="half_arm_2_link"/>
    <child link="forearm_link"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.6599999" upper="2.6599999" effort="2340." velocity="1.3963"/>
  </joint>
  <joint name="joint_5" type="continuous">
    <origin xyz="-0.006375 -0.20843 0. " rpy="0. 0. 1.5707998"/>
    <parent link="forearm_link"/>
    <child link="spherical_wrist_1_link"/>
    <axis xyz="1. 0. 0."/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin xyz="-0.10593 0.0001751 0. " rpy="0. 0. -1.5707998"/>
    <parent link="spherical_wrist_1_link"/>
    <child link="spherical_wrist_2_link"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.2299999" upper="2.2299999" effort="540." velocity="1.2218"/>
  </joint>
  <joint name="joint_7" type="continuous">
    <origin xyz="-0.0001751 -0.10593 0. " rpy="0. 0. 1.5707998"/>
    <parent link="spherical_wrist_2_link"/>
    <child link="bracelet_link"/>
    <axis xyz="1. 0. 0."/>
  </joint>
  <joint name="root_joint" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="gen3"/>
    <child link="base_link"/>
  </joint>
  <link name="base_link">
    <inertial>
      <origin xyz="-0.000648 -0.000166 0.084487" rpy="0. 0. 0."/>
      <mass value="1.697"/>
      <inertia ixx="0.004622" ixy="0." ixz="0." iyy="0.004495" iyz="0." izz="0.002079"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/base_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/base_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="bracelet_link">
    <inertial>
      <origin xyz="-0.000093 0.000132 -0.022905" rpy="0. 0. 0."/>
      <mass value="0.364"/>
      <inertia ixx="0.000214" ixy="0." ixz="0." iyy="0.000223" iyz="0." izz="0.00024"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="-0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/bracelet_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="-0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/bracelet_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="end_effector_link">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.0000001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
  </link>
  <link name="forearm_link">
    <inertial>
      <origin xyz="-0.000018 -0.075478 -0.015006" rpy="0. 0. 0."/>
      <mass value="0.9302"/>
      <inertia ixx="0.008147" ixy="0." ixz="0." iyy="0.000631" iyz="0." izz="0.008316"/>
    </inertial>
    <visual>
      <origin xyz="0. -0. 0." rpy="0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/forearm_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. -0. 0." rpy="0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/forearm_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="gen3"/>
  <link name="half_arm_1_link">
    <inertial>
      <origin xyz="-0.000044 -0.09958 -0.013278" rpy="0. 0. 0."/>
      <mass value="1.1636"/>
      <inertia ixx="0.011088" ixy="0." ixz="0." iyy="0.001072" iyz="0." izz="0.011255"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/half_arm_1_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/half_arm_1_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="half_arm_2_link">
    <inertial>
      <origin xyz="-0.000044 -0.006641 -0.117892" rpy="0. 0. 0."/>
      <mass value="1.1636"/>
      <inertia ixx="0.010932" ixy="0." ixz="0." iyy="0.011127" iyz="0." izz="0.001043"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="-0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/half_arm_2_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="-0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/half_arm_2_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="shoulder_link">
    <inertial>
      <origin xyz="-0.000023 -0.010364 -0.07336 " rpy="0. 0. 0."/>
      <mass value="1.3773"/>
      <inertia ixx="0.00457" ixy="0." ixz="0." iyy="0.004831" iyz="0." izz="0.001409"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/shoulder_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/shoulder_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="spherical_wrist_1_link">
    <inertial>
      <origin xyz="0.000001 -0.009432 -0.063883" rpy="0. 0. 0."/>
      <mass value="0.6781"/>
      <inertia ixx="0.001596" ixy="0." ixz="0." iyy="0.001607" iyz="0." izz="0.000399"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="-0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/spherical_wrist_1_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="-0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/spherical_wrist_1_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="spherical_wrist_2_link">
    <inertial>
      <origin xyz="0.000001 -0.045483 -0.00965 " rpy="0. 0. 0."/>
      <mass value="0.6781"/>
      <inertia ixx="0.001641" ixy="0." ixz="0." iyy="0.00041" iyz="0." izz="0.001641"/>
    </inertial>
    <visual>
      <origin xyz="-0. 0. 0." rpy="0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/spherical_wrist_2_link_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. 0. 0." rpy="0.0000001 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/spherical_wrist_2_link_collisions_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
</robot>