SMS_python/6dof_description.urdf at master · mikekaram/SMS_python · GitHub

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<robot name="6dof_robot">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.055" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
      </geometry>
    </visual>
    </link>
  <link name="link1">
      <visual>
      <geometry>
        <cylinder length="0.02" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
      </geometry>
    </visual>
        </link>
  <link name="link2">
    <visual>
      <geometry>
        <cylinder length="0.105" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
      </geometry>
    </visual>
  </link>
  <link name="link3">
    <visual>
      <geometry>
        <cylinder length="0.055" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
      </geometry>
    </visual>
  </link>
  <link name="link4">
    <visual>
      <geometry>
        <cylinder length="0.065" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
      </geometry>
    </visual>
  </link>
  <link name="link5">
        <visual>
      <geometry>
        <cylinder length="0.06" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 0 0"/>
      </geometry>
    </visual>
  </link>
  <link name="link6">
            <visual>
      <geometry>
        <cylinder length="0.04" radius="0.01"/>
        <origin xyz="0 0 0" rpy="0 -1.57 1.57"/>
      </geometry>
    </visual>
  </link>
  <joint name="rotary_base" type="continuous">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin xyz="0 0 0.055" rpy="0 0 0" />
    <axis xyz="0 0 1" />
  </joint>
  <joint name="joint1" type="continuous">
    <parent link="link1"/>
    <child link="link2"/>
    <origin xyz="0 0 0.02" rpy="1.57 0 0" />
    <axis xyz="0 0 1" />
  </joint>

  <joint name="joint2" type="continuous">
    <parent link="link2"/>
    <child link="link3"/>
    <origin xyz="0 0.105 0" rpy="0 0 1.57" />
    <axis xyz="0 0 1" />
  </joint>

  <joint name="joint3" type="continuous">
    <parent link="link3"/>
    <child link="link4"/>
    <origin xyz="0 -0.055 0 " rpy="-1.57 0 0" />
    <axis xyz="0 0 1" />
  </joint>
  <joint name="joint4" type="continuous">
    <parent link="link4"/>
    <child link="link5"/>
    <origin xyz="0 0 -0.065" rpy="1.57 0 0" />
    <axis xyz="0 0 1" />
  </joint>
  <joint name="gripper" type="continuous">
    <parent link="link5"/>
    <child link="link6"/>
    <origin xyz="0 -0.06 0" rpy="-1.57 0 0" />
    <axis xyz="0 0 1" />
  </joint>
</robot>