<?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="DianaMed_kdl">
  <mujoco>
    <compiler meshdir="../DianaMed/meshes/"
    balanceinertia="true" 
    discardvisual="false"/>
  </mujoco> 
  <link name="world">
      <inertial>
          <origin xyz="0.00 -0.000 -0.01" rpy="0 0 0" />
          <mass value="100"/>
          <inertia ixx="10"  ixy="0"  ixz="0" iyy="10" iyz="0" izz="10" />
      </inertial>
      <visual>
          <origin xyz="0 0 0" rpy="0 0 0" />
          <geometry>
             <box size="5 5 0.0049" />
          </geometry>
          <material name="Cyan">
             <color rgba="0.1 0.5 0.9 1.0"/>
          </material>
      </visual>
      <collision>
          <origin xyz="0 0 0" rpy="0 0 0"/>
          <geometry>
            <box size="5 5 0.0049" />
          </geometry>
      </collision>
  </link>
  <link name="base_link">
    <inertial>
      <origin xyz="0.00 -0.000 0.00" 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://DianaMed/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://DianaMed/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j0" type="fixed">
    <origin xyz="-0.8 0 0" rpy="0 0 0" />
    <parent link="world" />
    <child link="base_link" />
    <axis xyz="0 0 1" />
  </joint>
  <link name="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://DianaMed/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://DianaMed/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j1" type="revolute">
    <origin xyz="0.0 -0.00063474 0.2985" rpy="3.1416 0 0" />
    <parent link="base_link" />
    <child link="link1" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="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://DianaMed/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://DianaMed/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j2" type="revolute">
    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link
    name="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://DianaMed/meshes/link3.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j3" type="revolute">
    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link name="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://DianaMed/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://DianaMed/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j4" type="revolute">
    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="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://DianaMed/meshes/link5.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link5.STL" />
        <!-- <mesh filename="package://link5.STL" /> -->
      </geometry>
    </collision>
  </link>
  <joint name="j5" type="revolute">
    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link name="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://DianaMed/meshes/link6.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link6.STL" />
        <!-- <mesh filename="package://link6.STL" /> -->
      </geometry>
    </collision>
  </link>
  <joint name="j6" type="revolute">
    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link name="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://DianaMed/meshes/link7.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link7.STL" />
        <!-- <mesh filename="package://link7.STL" /> -->
      </geometry>
    </collision>
  </link>
  <joint name="j7" type="revolute">
    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
    <parent link="link6" />
    <child link="link7" />
    <axis xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>


  <!-- aruco arm -->
  <link name="base_link_aruco">
    <inertial>
      <origin xyz="0.00 -0.000 0.00" 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://DianaMed/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://DianaMed/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j0_aruco" type="fixed">
    <origin xyz=".95 0 0" rpy="0 0 -3.1415" />
    <parent link="world" />
    <child link="base_link_aruco" />
    <axis xyz="0 0 1" />
  </joint>
  <link name="link1_aruco">
    <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://DianaMed/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://DianaMed/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j1_aruco" type="revolute">
    <origin xyz="0.0 -0.00063474 0.2985" rpy="3.1416 0 0" />
    <parent link="base_link_aruco" />
    <child link="link1_aruco" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="link2_aruco">
    <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://DianaMed/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://DianaMed/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j2_aruco" type="revolute">
    <origin xyz="0 0 -0.00092116" rpy="1.5708 0 0" />
    <parent link="link1_aruco" />
    <child link="link2_aruco" />
    <axis xyz="0 0 -1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link
    name="link3_aruco">
    <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://DianaMed/meshes/link3.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j3_aruco" type="revolute">
    <origin xyz="0 -0.45818 0.0005" rpy="-1.5708 0 0" />
    <parent link="link2_aruco" />
    <child link="link3_aruco" />
    <axis xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link name="link4_aruco">
    <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://DianaMed/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://DianaMed/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="j4_aruco" type="revolute">
    <origin xyz="0.064454 0.0005 -0.00070508" rpy="1.5708 0 0" />
    <parent link="link3_aruco" />
    <child link="link4_aruco" />
    <axis xyz="0 0 1" />
    <limit lower="-3.14" upper="3.14" effort="0" velocity="0" />
  </joint>
  <link name="link5_aruco">
    <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://DianaMed/meshes/link5.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link5.STL" />
        <!-- <mesh filename="package://link5.STL" /> -->
      </geometry>
    </collision>
  </link>
  <joint name="j5_aruco" type="revolute">
    <origin xyz="-0.052254 -0.45668 0.0005" rpy="-1.5708 0 0" />
    <parent link="link4_aruco" />
    <child link="link5_aruco" />
    <axis xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link name="link6_aruco">
    <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://DianaMed/meshes/link6.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link6.STL" />
        <!-- <mesh filename="package://link6.STL" /> -->
      </geometry>
    </collision>
  </link>
  <joint name="j6_aruco" type="revolute">
    <origin xyz="0 -0.005 -1.1713E-05" rpy="1.5708 0 -3.1416" />
    <parent link="link5_aruco" />
    <child link="link6_aruco" />
    <axis xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link name="link7_aruco">
    <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://DianaMed/meshes/link7.STL" />
        <!-- <mesh filename="package://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://DianaMed/meshes/link7.STL" />
        <!-- <mesh filename="package://link7.STL" /> -->
      </geometry>
    </collision>
  </link>
  <joint name="j7_aruco" type="revolute">
    <origin xyz="0.076728 -0.1059 0" rpy="-1.5708 0 0" />
    <parent link="link6_aruco" />
    <child link="link7_aruco" />
    <axis xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
</robot>
