<?xml version="1.0"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="Bimanual_kdl">
   <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.44" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.88" radius="0.085"/> 
      </geometry>
      <material name="color_cylinder">
        <color rgba="1.0 0.8 0.09 1"/> 
      </material>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.44" rpy="0 0 0" />
      <geometry>
        <cylinder length="0.88" radius="0.085"/> 
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.44" rpy="0 0 0" />
      <mass value="100.0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/> 
    </inertial>
  </link>

  <link name="robot_stand">
    <visual>
      <geometry>
        <mesh filename="package://Bimanual/meshes/dual_robot_stand4.stl"/>
      </geometry>
      <material name="stand">
        <color rgba="1 0.8 0.2 1"/> 
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://Bimanual/meshes/dual_robot_stand4.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="robot_stand_joint" type="revolute">
    <origin xyz="0 0 0.880001 " rpy="0 0 0 "/>
    <parent link="base_link" />
    <child link="robot_stand" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>



  <link name="left_base_link">
    <inertial>
      <origin xyz="0.00010213 -0.0014093 0.086074" rpy="0 0 0" />
      <mass value="3.1064" />
      <inertia 
        ixx="0.014417"
        ixy="5.8713E-06"
        ixz="2.8276E-06"
        iyy="0.013941"
        iyz="-0.0002214"
        izz="0.0089653" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_stand_joint" type="fixed">
    <origin xyz="-0.15 0 0.46 " rpy="0.0 0.785398 3.14"/>
    <parent link="robot_stand" />
    <child link="left_base_link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link1">
    <inertial>
      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
      <mass value="2.72698490401415" />
      <inertia
        ixx="0.0113371331079453"
        ixy="-5.01180706615877E-07"
        ixz="-3.66885437018535E-07"
        iyy="0.0110327536309882"
        iyz="-0.00220675575486915"
        izz="0.00811200466883726" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link1.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j1" type="revolute">
    <origin xyz="8.7058E-05 -0.00063474 0.2985" rpy="3.1416 0 0" />
    <parent link="left_base_link" />
    <child link="left_link1" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link2">
    <inertial>
      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
      <mass value="3.18168266310627" />
      <inertia
        ixx="0.018072107435624"
        ixy="-8.36079570379431E-08"
        ixz="1.07670750003258E-07"
        iyy="0.00961237211101437"
        iyz="0.00435586439328804"
        izz="0.016888058079289" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link2.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j2" type="revolute">
    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
    <parent link="left_link1" />
    <child link="left_link2" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link3">
    <inertial>
      <origin xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813" rpy="0 0 0" />
      <mass value="3.93616399327803" />
      <inertia
        ixx="0.0529699107504458"
        ixy="0.00295925943864098"
        ixz="0.0100824736258477"
        iyy="0.0547048459134381"
        iyz="-0.00795482322146361"
        izz="0.013338555535485" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link3.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j3" type="revolute">
    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
    <parent link="left_link2" />
    <child link="left_link3" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link4">
    <inertial>
      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
      <mass value="1.58468985635004" />
      <inertia
        ixx="0.0038731409034452"
        ixy="-0.000832775020978768"
        ixz="0.000679010334754415"
        iyy="0.00422597504724798"
        iyz="0.00067347297662315"
        izz="0.00439242812060777" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link4.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j4" type="revolute">
    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
    <parent link="left_link3" />
    <child link="left_link4" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link5">
    <inertial>
      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
      <mass value="1.92687822080767" />
      <inertia
        ixx="0.0293223924818884"
        ixy="0.000126715279757269"
        ixz="-0.000259318121034694"
        iyy="0.0270589496231595"
        iyz="0.00711831662518815"
        izz="0.00414045111192326" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link5.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j5" type="revolute">
    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
    <parent link="left_link4" />
    <child link="left_link5" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link6">
    <inertial>
      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
      <mass value="1.7304" />
      <inertia
        ixx="0.0034648"
        ixy="6.9318E-05"
        ixz="-0.00014008"
        iyy="0.0049229"
        iyz="2.7274E-06"
        izz="0.0052571" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link6.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j6" type="revolute">
    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
    <parent link="left_link5" />
    <child link="left_link6" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="left_link7">
    <inertial>
      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
      <mass value="0.16696" />
      <inertia
        ixx="8.7537E-05"
        ixy="1.9588E-09"
        ixz="2.6332E-07"
        iyy="8.8902E-05"
        iyz="7.5347E-09"
        izz="0.00014391" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link7.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link7.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="left_j7" type="revolute">
    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
    <parent link="left_link6" />
    <child link="left_link7" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint> 


<!-- ************************************************************************fen ge xian********************************************************************** -->


  <link name="right_base_link">
    <inertial>
      <origin xyz="0.00010213 -0.0014093 0.086074" rpy="0 0 0" />
      <mass value="3.1064" />
      <inertia 
        ixx="0.014417"
        ixy="5.8713E-06"
        ixz="2.8276E-06"
        iyy="0.013941"
        iyz="-0.0002214"
        izz="0.0089653" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_stand_joint" type="fixed">
    <origin xyz="0.15 0 0.46 " rpy="0.0 0.785398 0.0"/>
    <parent link="robot_stand" />
    <child link="right_base_link" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link1">
    <inertial>
      <origin xyz="4.57640929707459E-06 -0.0439746120959298 0.0236145135234007" rpy="0 0 0" />
      <mass value="2.72698490401415" />
      <inertia
        ixx="0.0113371331079453"
        ixy="-5.01180706615877E-07"
        ixz="-3.66885437018535E-07"
        iyy="0.0110327536309882"
        iyz="-0.00220675575486915"
        izz="0.00811200466883726" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link1.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j1" type="revolute">
    <origin xyz="8.7058E-05 -0.00063474 0.2985" rpy="3.1416 0 0" />
    <parent link="right_base_link" />
    <child link="right_link1" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link2">
    <inertial>
      <origin xyz="8.26088421748694E-06 -0.0407280306293744 -0.0363117407161708" rpy="0 0 0" />
      <mass value="3.18168266310627" />
      <inertia
        ixx="0.018072107435624"
        ixy="-8.36079570379431E-08"
        ixz="1.07670750003258E-07"
        iyy="0.00961237211101437"
        iyz="0.00435586439328804"
        izz="0.016888058079289" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link2.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j2" type="revolute">
    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
    <parent link="right_link1" />
    <child link="right_link2" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link3">
    <inertial>
      <origin xyz="0.0148078870964089 -0.0159924912448304 0.127197681416813" rpy="0 0 0" />
      <mass value="3.93616399327803" />
      <inertia
        ixx="0.0529699107504458"
        ixy="0.00295925943864098"
        ixz="0.0100824736258477"
        iyy="0.0547048459134381"
        iyz="-0.00795482322146361"
        izz="0.013338555535485" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link3.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j3" type="revolute">
    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
    <parent link="right_link2" />
    <child link="right_link3" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link4">
    <inertial>
      <origin xyz="-0.0145884364859367 -0.0117112984562222 -0.0406158066673303" rpy="0 0 0" />
      <mass value="1.58468985635004" />
      <inertia
        ixx="0.0038731409034452"
        ixy="-0.000832775020978768"
        ixz="0.000679010334754415"
        iyy="0.00422597504724798"
        iyz="0.00067347297662315"
        izz="0.00439242812060777" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link4.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j4" type="revolute">
    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
    <parent link="right_link3" />
    <child link="right_link4" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link5">
    <inertial>
      <origin xyz="-0.00209922282949576 0.0288296598531898 0.222844782709322" rpy="0 0 0" />
      <mass value="1.92687822080767" />
      <inertia
        ixx="0.0293223924818884"
        ixy="0.000126715279757269"
        ixz="-0.000259318121034694"
        iyy="0.0270589496231595"
        iyz="0.00711831662518815"
        izz="0.00414045111192326" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link5.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j5" type="revolute">
    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
    <parent link="right_link4" />
    <child link="right_link5" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link6">
    <inertial>
      <origin xyz="0.038358 -0.00071885 -0.0021112" rpy="0 0 0" />
      <mass value="1.7304" />
      <inertia
        ixx="0.0034648"
        ixy="6.9318E-05"
        ixz="-0.00014008"
        iyy="0.0049229"
        iyz="2.7274E-06"
        izz="0.0052571" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link6.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j6" type="revolute">
    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
    <parent link="right_link5" />
    <child link="right_link6" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="right_link7">
    <inertial>
      <origin xyz="0.00068467 1.5999E-05 0.020834" rpy="0 0 0" />
      <mass value="0.16696" />
      <inertia
        ixx="8.7537E-05"
        ixy="1.9588E-09"
        ixz="2.6332E-07"
        iyy="8.8902E-05"
        iyz="7.5347E-09"
        izz="0.00014391" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link7.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://Bimanual/meshes/link7.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="right_j7" type="revolute">
    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
    <parent link="right_link6" />
    <child link="right_link7" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint> 
</robot>