1<?xml version="1.0" ?>
2<!-- =================================================================================== -->
3<!-- |    This document was autogenerated by xacro from wam_standalone.urdf.xacro      | -->
4<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
5<!-- =================================================================================== -->
6<robot name="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
7  <link name="world"/>
8  <joint name="/j0" type="fixed">
9    <parent link="world"/>
10    <child link="/wam_base"/>
11    <origin xyz="0 0 0" rpy="0 0 0" />
12  </joint>
13  <link name="/wam_base">
14    <visual>
15      <origin rpy="0 0 0" xyz="0 0 0"/>
16      <geometry>
17        <mesh filename="package://herb_description/meshes/wam/wam_base.dae"/>
18      </geometry>
19      <material name="">
20        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
21      </material>
22    </visual>
23    <inertial>
24      <origin rpy="0 0 0" xyz="0.21556578 0.26189039 0.34533511"/>
25      <mass value="9.97059584"/>
26      <inertia ixx="0.10916849" ixy="0.00640270" ixz="0.02557874" iyx="0.00000000" iyy="0.18294303" iyz="0.00161433" izx="0.00000000" izy="0.00000000" izz="0.11760385"/>
27    </inertial>
28    <collision>
29      <geometry>
30        <mesh filename="package://herb_description/meshes/wam/wam_base_collision.STL"/>
31      </geometry>
32    </collision>
33  </link>
34  <link name="/wam1">
35    <visual>
36      <origin rpy="0 0 0" xyz="0 0 0"/>
37      <geometry>
38        <mesh filename="package://herb_description/meshes/wam/wam1.dae"/>
39      </geometry>
40      <material name="">
41        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
42      </material>
43    </visual>
44    <inertial>
45      <origin rpy="-1.570796 0 0" xyz="-0.004434 -0.000665 -0.121890"/>
46      <mass value="10.76768767"/>
47      <inertia ixx="0.13488033" ixy="-0.00213041" ixz="-0.00012485" iyx="0.00000000" iyy="0.11328369" iyz="0.00068555" izx="0.00000000" izy="0.00000000" izz="0.09046330"/>
48    </inertial>
49    <collision>
50      <geometry>
51        <mesh filename="package://herb_description/meshes/wam/wam1_collision.STL"/>
52      </geometry>
53    </collision>
54  </link>
55  <joint name="/j1" type="revolute">
56    <origin rpy="-1.1127E-16 0 0" xyz="0.22 0.14 0.346"/>
57    <parent link="/wam_base"/>
58    <child link="/wam1"/>
59    <axis xyz="0 0 1"/>
60    <limit effort="1.8" lower="-2.6" upper="2.6" velocity="0.75"/>
61  </joint>
62  <link name="/wam2">
63    <visual>
64      <origin rpy="0 0 0" xyz="0 0 0"/>
65      <geometry>
66        <mesh filename="package://herb_description/meshes/wam/wam2.dae"/>
67      </geometry>
68      <material name="">
69        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
70      </material>
71    </visual>
72    <inertial>
73      <origin rpy="1.570796 0 0" xyz="-0.002370 -0.015421 0.031056"/>
74      <mass value="3.87493756"/>
75      <inertia ixx="0.02140958" ixy="0.00027172" ixz="0.00002461" iyx="0.00000000" iyy="0.01377875" iyz="-0.00181920" izx="0.00000000" izy="0.00000000" izz="0.01558906"/>
76    </inertial>
77    <collision>
78      <geometry>
79        <mesh filename="package://herb_description/meshes/wam/wam2_collision.STL"/>
80      </geometry>
81    </collision>
82  </link>
83  <joint name="/j2" type="revolute">
84    <origin rpy="-1.5708 -4.0281E-16 -3.9443E-31" xyz="0 0 0"/>
85    <parent link="/wam1"/>
86    <child link="/wam2"/>
87    <axis xyz="0 0 1"/>
88    <limit effort="1.8" lower="-2.00" upper="2.00" velocity="0.75"/>
89  </joint>
90  <link name="/wam3">
91    <visual>
92      <origin rpy="0 0 0" xyz="0 0 0"/>
93      <geometry>
94        <mesh filename="package://herb_description/meshes/wam/wam3.dae"/>
95      </geometry>
96      <material name="">
97        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
98      </material>
99    </visual>
100    <inertial>
101      <origin rpy="-1.570796 0 0" xyz="0.006741 0.000033 0.342492"/>
102      <mass value="1.80228141"/>
103      <inertia ixx="0.05911077" ixy="-0.00249612" ixz="0.00000738" iyx="0.00000000" iyy="0.00324550" iyz="-0.00001767" izx="0.00000000" izy="0.00000000" izz="0.05927043"/>
104    </inertial>
105    <collision>
106      <geometry>
107        <mesh filename="package://herb_description/meshes/wam/wam3_collision.STL"/>
108      </geometry>
109    </collision>
110  </link>
111  <joint name="/j3" type="revolute">
112    <origin rpy="1.5708 -3.9443E-31 4.0281E-16" xyz="0 0 0"/>
113    <parent link="/wam2"/>
114    <child link="/wam3"/>
115    <axis xyz="0 0 1"/>
116    <limit effort="1.8" lower="-2.80" upper="2.80" velocity="2.0"/>
117  </joint>
118  <link name="/wam4">
119    <visual>
120      <origin rpy="0 0 0" xyz="0 0 0"/>
121      <geometry>
122        <mesh filename="package://herb_description/meshes/wam/wam4.dae"/>
123      </geometry>
124      <material name="">
125        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
126      </material>
127    </visual>
128    <inertial>
129      <origin rpy="1.570796 0 0" xyz="-0.040015 -0.132717 -0.000229"/>
130      <mass value="2.40016804"/>
131      <inertia ixx="0.01491672" ixy="0.00001741" ixz="-0.00150604" iyx="0.00000000" iyy="0.01482922" iyz="-0.00002109" izx="0.00000000" izy="0.00000000" izz="0.00294463"/>
132    </inertial>
133    <collision>
134      <geometry>
135        <mesh filename="package://herb_description/meshes/wam/wam4_collision.STL"/>
136      </geometry>
137    </collision>
138  </link>
139  <joint name="/j4" type="revolute">
140    <origin rpy="-1.5708 0 0" xyz="0.045 0 0.55"/>
141    <parent link="/wam3"/>
142    <child link="/wam4"/>
143    <axis xyz="0 0 1"/>
144    <limit effort="1.6" lower="-0.90" upper="3.10" velocity="2.0"/>
145  </joint>
146  <link name="/wam5">
147    <visual>
148      <origin rpy="0 0 0" xyz="0 0 0"/>
149      <geometry>
150        <mesh filename="package://herb_description/meshes/wam/wam5.dae"/>
151      </geometry>
152      <material name="">
153        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
154      </material>
155    </visual>
156    <inertial>
157      <origin rpy="-1.570796 0 0" xyz="0.000089 0.004358 0.294888"/>
158      <mass value="0.12376019"/>
159      <inertia ixx="0.00005029" ixy="0.00000020" ixz="-0.00000005" iyx="0.00000000" iyy="0.00007582" iyz="-0.00000359" izx="0.00000000" izy="0.00000000" izz="0.00006270"/>
160    </inertial>
161    <collision>
162      <geometry>
163        <mesh filename="package://herb_description/meshes/wam/wam5_collision.STL"/>
164      </geometry>
165    </collision>
166  </link>
167  <joint name="/j5" type="revolute">
168    <origin rpy="1.5708 0 0" xyz="-0.045 0 0"/>
169    <parent link="/wam4"/>
170    <child link="/wam5"/>
171    <axis xyz="0 0 1"/>
172    <limit effort="0.6" lower="-4.76" upper="1.24" velocity="2.5"/>
173  </joint>
174  <link name="/wam6">
175    <visual>
176      <origin rpy="0 0 0" xyz="0 0 0"/>
177      <geometry>
178        <mesh filename="package://herb_description/meshes/wam/wam6.dae"/>
179      </geometry>
180      <material name="">
181        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
182      </material>
183    </visual>
184    <inertial>
185      <origin rpy="1.570796 0 0" xyz="-0.000123 -0.024683 -0.017032"/>
186      <mass value="0.41797364"/>
187      <inertia ixx="0.00055516" ixy="0.00000061" ixz="-0.00000074" iyx="0.00000000" iyy="0.00024367" iyz="-0.00004590" izx="0.00000000" izy="0.00000000" izz="0.00045358"/>
188    </inertial>
189    <collision>
190      <geometry>
191        <mesh filename="package://herb_description/meshes/wam/wam6_collision.STL"/>
192      </geometry>
193    </collision>
194  </link>
195  <joint name="/j6" type="revolute">
196    <origin rpy="-1.5708 0 0" xyz="0 0 0.3"/>
197    <parent link="/wam5"/>
198    <child link="/wam6"/>
199    <axis xyz="0 0 1"/>
200    <limit effort="0.6" lower="-1.60" upper="1.60" velocity="2.5"/>
201  </joint>
202  <link name="/wam7">
203    <visual>
204      <origin rpy="0 0 0" xyz="0 0 0"/>
205      <geometry>
206        <mesh filename="package://herb_description/meshes/wam/wam7.dae"/>
207      </geometry>
208      <material name="">
209        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
210      </material>
211    </visual>
212    <inertial>
213      <origin rpy="0 0 0" xyz="-0.000080 0.000163 0.056764"/>
214      <mass value="0.06864753"/>
215      <inertia ixx="0.00003773" ixy="-0.00000019" ixz="0.00000000" iyx="0.00000000" iyy="0.00003806" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00007408"/>
216    </inertial>
217    <collision>
218      <geometry>
219        <mesh filename="package://herb_description/meshes/wam/wam7_collision.STL"/>
220      </geometry>
221    </collision>
222  </link>
223  <joint name="/j7" type="revolute">
224    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
225    <parent link="/wam6"/>
226    <child link="/wam7"/>
227    <axis xyz="0 0 1"/>
228    <limit effort="0.174" lower="-3.00" upper="3.00" velocity="2.5"/>
229  </joint>
230</robot>
231