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modified_robot_v1.urdf
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<robot name="rizon10s">
<mujoco>
<compiler meshdir="meshes" strippath="false" balanceinertia="true" discardvisual="false" convexhull="true" />
</mujoco>
<joint name="joint1" type="revolute">
<parent link="base_link" />
<child link="link1" />
<origin rpy="0.0 0.0 -3.141592653589793" xyz="0.0 0.0 0.21" />
<axis xyz="0 0 1" />
<limit effort="261" lower="-2.7925" upper="2.7925" velocity="1.7453" />
</joint>
<joint name="joint2" type="revolute">
<parent link="link1" />
<child link="link2" />
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0675 0.24" />
<axis xyz="0 1 0" />
<limit effort="261" lower="-2.6704" upper="2.6704" velocity="1.7453" />
</joint>
<joint name="joint3" type="revolute">
<parent link="link2" />
<child link="link3" />
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0625 0.2275" />
<axis xyz="0 0 1" />
<limit effort="123" lower="-2.7925" upper="2.7925" velocity="2.0944" />
</joint>
<joint name="joint4" type="revolute">
<parent link="link3" />
<child link="link4" />
<origin rpy="0.0 0.0 -3.141592653589793" xyz="0.0 -0.0625 0.2225" />
<axis xyz="0 1 0" />
<limit effort="123" lower="-2.7053" upper="2.7053" velocity="2.0944" />
</joint>
<joint name="joint5" type="revolute">
<parent link="link4" />
<child link="link5" />
<origin rpy="0.0 0.0 -3.141592653589793" xyz="0.0 0.0575 0.205" />
<axis xyz="0 0 1" />
<limit effort="57" lower="-2.9671" upper="2.9671" velocity="3.8397" />
</joint>
<joint name="joint6" type="revolute">
<parent link="link5" />
<child link="link6" />
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.03 0.19" />
<axis xyz="0 1 0" />
<limit effort="57" lower="-1.3963" upper="4.5379" velocity="3.8397" />
</joint>
<joint name="joint7" type="revolute">
<parent link="link6" />
<child link="link7" />
<origin rpy="0.0 -1.5707963478683205 0.0" xyz="-0.015 0.073 0.11" />
<axis xyz="0 0 1" />
<limit effort="57" lower="-2.9671" upper="2.9671" velocity="3.8397" />
</joint>
<joint name="link7_to_flange" type="fixed">
<parent link="link7" />
<child link="flange" />
<origin rpy="0.0 0.0 -3.141592653589793" xyz="0.0 0.0 0.124" />
</joint>
<link name="base_link">
<inertial>
<mass value="9.199999992725495" />
<origin rpy="0 0 0" xyz="-2.52338268191719e-09 -2.5233826819145372e-09 0.1299999974766173" />
<inertia ixx="0.08" ixy="0.0" ixz="-0.0" iyy="0.08" iyz="0.0" izz="0.04" />
</inertial>
<visual name="shell-0">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link0.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<collision name="hull-0">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link0.stl" />
</geometry>
</collision>
</link>
<link name="link1">
<inertial>
<mass value="9.699999992725495" />
<origin rpy="0 0 0" xyz="-2.5233826819114866e-09 0.029999997476617316 0.1599999974766173" />
<inertia ixx="0.18" ixy="0.0" ixz="0.0" iyy="0.17" iyz="0.02" izz="0.04" />
</inertial>
<visual name="shell-1">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link1.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-1">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s1.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-1">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link1.stl" />
</geometry>
</collision>
</link>
<link name="link2">
<inertial>
<mass value="6.562768323895626" />
<origin rpy="0 0 0" xyz="-0.007938482124817488 0.02999995848296618 0.11042063542454052" />
<inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.08" iyz="0.02" izz="0.03" />
</inertial>
<visual name="shell-2">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link2.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-2">
<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s2.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-2">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link2.stl" />
</geometry>
</collision>
</link>
<link name="link3">
<inertial>
<mass value="5.455481163910435" />
<origin rpy="0 0 0" xyz="0.0073352410615246675 -0.026186302015484168 0.1703983697350156" />
<inertia ixx="0.04" ixy="-0.0" ixz="-0.0" iyy="0.03" iyz="-0.01" izz="0.01" />
</inertial>
<visual name="shell-3">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link3.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-3">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s3.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-3">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link3.stl" />
</geometry>
</collision>
</link>
<link name="link4">
<inertial>
<mass value="2.9065983295639333" />
<origin rpy="0 0 0" xyz="0.013206701745666408 0.047834654511520476 0.1010458913347031" />
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.01" />
</inertial>
<visual name="shell-4">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link4.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-4">
<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s4.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-4">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link4.stl" />
</geometry>
</collision>
</link>
<link name="link5">
<inertial>
<mass value="2.523568043562909" />
<origin rpy="0 0 0" xyz="0.004264940706348876 0.007033412202248705 0.13092650697842265" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.001" />
</inertial>
<visual name="shell-5">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link5.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-5">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s5.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-5">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link5.stl" />
</geometry>
</collision>
</link>
<link name="link6">
<inertial>
<mass value="2.4267434642526036" />
<origin rpy="0 0 0" xyz="0.01973700760701718 0.0571500959566538 0.0661400076515376" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.001" />
</inertial>
<visual name="shell-6">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link6.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-6">
<origin rpy="1.5707963 0 0" xyz="0 -0.0025 0" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s6.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-6">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link6.stl" />
</geometry>
</collision>
</link>
<link name="link7">
<inertial>
<mass value="2.981183716464972" />
<origin rpy="0 0 0" xyz="0.0028504427372845332 0.0025019051281078538 0.1070873998261274" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<visual name="shell-7">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/visual/v_link7.obj" />
</geometry>
<material name="rizon_dark_grey" />
</visual>
<visual name="ring-7">
<origin rpy="0 0 0" xyz="0 0 -0.0025" />
<geometry>
<mesh filename="rizon10s/visual/v_ring_s7.obj" />
</geometry>
<material name="rizon_white" />
</visual>
<collision name="hull-7">
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="rizon10s/collision/c_link7.stl" />
</geometry>
</collision>
</link>
<link name="flange">
<inertial>
<mass value="0." />
<origin rpy="0 0 0" xyz="0.0 0.0 0.057" />
<inertia ixx="0.03" ixy="0.0" ixz="0.0" iyy="0.03" iyz="0.0" izz="0.01" />
</inertial>
</link>
<link name="tcp" />
<joint name="flange_to_tcp" type="fixed">
<parent link="flange" />
<child link="tcp" />
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2" />
</joint>
<material name="rizon_light_grey">
<color rgba="0.7 0.7 0.7 1.0" />
</material>
<material name="rizon_dark_grey">
<color rgba="0.4 0.4 0.4 1.0" />
</material>
<material name="rizon_white">
<color rgba="1.0 1.0 1.0 1.0" />
</material>
</robot>