<?xml version="1.0" encoding="utf-8"?> <!-- 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="vega_1u_gripper">
  <link name="base_link">
    <inertial>
      <origin xyz="-0.00062 -0.07869 0.02414" rpy="0 0 0" />
      <mass value="18.91029" />
      <inertia ixx="0.60638" ixy="3.13065E-10" ixz="-1.05197E-05" iyy="0.74482" iyz="3.24349E-07"
        izz="0.89592" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="1.57079 0 1.57079" />
      <geometry>
        <mesh filename="meshes/visual/base_link.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.57079 0 1.57079" />
      <geometry>
        <mesh filename="meshes/visual/base_link.glb" />
      </geometry>
    </collision>
  </link>
  <link name="lift_link">
    <inertial>
      <origin xyz="-2.81873E-06 0.00032 0.5141" rpy="0 0 0" />
      <mass value="4.35777" />
      <inertia ixx="0.19538" ixy="1.8612E-07" ixz="-5.15148E-11" iyy="0.19546" iyz="1.27577E-06"
        izz="0.01487" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="1.57079 0 0" />
      <geometry>
        <mesh filename="meshes/visual/lift_link.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.57079 0 0" />
      <geometry>
        <mesh filename="meshes/visual/lift_link.glb" />
      </geometry>
    </collision>
  </link>
  <joint name="Lift" type="prismatic">
    <origin xyz="0 0 0.01" rpy="0 0 1.57079" />
    <parent link="base_link" />
    <child link="lift_link" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.4" effort="0" velocity="0.05" />
  </joint>
  <link name="torso_flip_link">
    <inertial>
      <origin xyz="-1.71092E-05 0.06383 0.00204" rpy="0 0 0" />
      <mass value="0.71794" />
      <inertia ixx="0.00119" ixy="1.8612E-07" ixz="-5.15157E-11" iyy="0.00128" iyz="1.27577E-06"
        izz="0.00244" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="1.57079 0 0" />
      <geometry>
        <mesh filename="meshes/visual/torso_link.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="1.57079 0 0" />
      <geometry>
        <mesh filename="meshes/visual/torso_link.glb" />
      </geometry>
    </collision>
  </link>
  <joint name="torso_flip" type="revolute">
    <origin xyz="0 -0.06187 0.786" rpy="0 0 0" />
    <parent link="lift_link" />
    <child link="torso_flip_link" />
    <axis xyz="1 0 0" />
    <limit lower="0" upper="1" effort="0" velocity="0.1" />
  </joint>
  <link name="arm_center" />
  <joint name="arm_center_j0" type="fixed">
    <origin xyz="0 0.03852 0.25982" rpy="0 0 -1.57079" />
    <parent link="torso_flip_link" />
    <child link="arm_center" />
  </joint>
  <link name="head_l1">
    <inertial>
      <origin xyz="1.30097E-05 0.07221 -0.02629" rpy="0 0 0" />
      <mass value="0.4378" />
      <inertia ixx="0.00043" ixy="1.42488E-08" ixz="7.17634E-08" iyy="0.00025" iyz="-1.01085E-06"
        izz="0.00051" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/head_l1.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/head_l1.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="head_j1" type="revolute">
    <origin xyz="-0.0735 -0.0725 0.014" rpy="0 0 0" />
    <parent link="arm_center" />
    <child link="head_l1" />
    <axis xyz="0 1 0" />
    <limit lower="-1.483" upper="1.483" effort="6" velocity="3.2" />
  </joint>
  <link name="head_l2">
    <inertial>
      <origin xyz="5.66105e-07 0.000244411 0.0303453" rpy="0 0 0" />
      <mass value="0.60772" />
      <inertia ixx="0.000559127" ixy="-7.39058e-10" ixz="3.61875e-09" iyy="0.000331023" iyz="5.3256e-06" izz="0.00051985" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/head_l2.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/head_l2.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="head_j2" type="revolute">
    <origin xyz="0 0.0725 -0.0035" rpy="0 0 0" />
    <parent link="head_l1" />
    <child link="head_l2" />
    <axis xyz="0 0 1" />
    <limit lower="-2.792" upper="2.792" effort="2.5" velocity="3.2" />
  </joint>
  <link name="head_l3">
    <inertial>
      <origin xyz="0.00816 -0.00315 0.03745" rpy="0 0 0" />
      <mass value="0.63278" />
      <inertia ixx="0.00083" ixy="-2.23229E-06" ixz="-9.73849E-06" iyy="0.00034" iyz="-9.09642E-06"
        izz="0.00078" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/head_l3.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/head_l3.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="head_j3" type="revolute">
    <origin xyz="0 0.002 0.0495" rpy="0 0 0" />
    <parent link="head_l2" />
    <child link="head_l3" />
    <axis xyz="0 -1 0" />
    <limit lower="-1.378" upper="1.483" effort="6" velocity="3.2" />
  </joint>
  <link name="zed_depth_frame" />
  <joint name="zed_left_depth_mount" type="fixed">
    <origin xyz="0.025 0.023 0.0489" rpy="-1.57079 0 -1.57079" />
    <parent link="head_l3" />
    <child link="zed_depth_frame" />
    <axis xyz="0 0 0" />
  </joint> <!-- The zed_left_camera and zed_right_camera is used for
  simulation rendering. The depth frame i used for the real robot transformation. -->
  <link name="zed_left_camera" />
  <joint name="zed_left_camera_mount" type="fixed">
    <origin xyz="0.0365 0.023 0.0489" rpy="-1.57079 0 -1.57079" />
    <parent link="head_l3" />
    <child link="zed_left_camera" />
    <axis xyz="0 0 0" />
  </joint>
  <link name="zed_right_camera" />
  <joint name="zed_right_camera_mount" type="fixed">
    <origin xyz="0.0365 -0.027 0.0489" rpy="-1.57079 0 -1.57079" />
    <parent link="head_l3" />
    <child link="zed_right_camera" />
    <axis xyz="0 0 0" />
  </joint>
  <link name="L_arm_l1">
    <inertial>
      <origin xyz="0.0285 0.05287 0.00576" rpy="0 0 0" />
      <mass value="1.41351" />
      <inertia ixx="0.00168" ixy="-0.00031" ixz="-6.83299E-05" iyy="0.00185" iyz="-5.44956E-05"
        izz="0.00212" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/L_arm_l1.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/L_arm_l1.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j1" type="revolute">
    <origin xyz="0 0.16946 0" rpy="0 0 0" />
    <parent link="arm_center" />
    <child link="L_arm_l1" />
    <axis xyz="0 1 0" />
    <limit lower="-3.071" upper="3.071" effort="150" velocity="2.4" />
  </joint>
  <link name="L_arm_l2">
    <inertial>
      <origin xyz="0.08194 -1.45468E-06 -0.04058" rpy="0 0 0" />
      <mass value="1.40594" />
      <inertia ixx="0.00168" ixy="-6.27676E-08" ixz="0.00041" iyy="0.00441" iyz="2.02838E-07"
        izz="0.00412" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l2.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l2.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j2" type="revolute">
    <origin xyz="0.04 0.06 0.0454" rpy="0 0 0" />
    <parent link="L_arm_l1" />
    <child link="L_arm_l2" />
    <axis xyz="0 0 1" />
    <limit lower="-0.453" upper="1.553" effort="150" velocity="2.4" />
  </joint>
  <link name="L_arm_l3">
    <inertial>
      <origin xyz="0.07978 0.00403 0.0398" rpy="0 0 0" />
      <mass value="1.16094" />
      <inertia ixx="0.0017" ixy="-0.00011" ixz="-0.00104" iyy="0.00337" iyz="-7.78856E-05"
        izz="0.00257" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l3.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l3.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j3" type="revolute">
    <origin xyz="0.1644 0 -0.043" rpy="0 0 0" />
    <parent link="L_arm_l2" />
    <child link="L_arm_l3" />
    <axis xyz="1 0 0" />
    <limit lower="-3.071" upper="3.071" effort="80" velocity="2.7" />
  </joint>
  <link name="L_arm_l4">
    <inertial>
      <origin xyz="0.09219 -0.03791 -0.02953" rpy="0 0 0" />
      <mass value="0.93204" />
      <inertia ixx="0.00101" ixy="0.00023" ixz="0.00042" iyy="0.00305" iyz="-0.00011" izz="0.00274" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l4.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l4.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j4" type="revolute">
    <origin xyz="0.113 0.0433 0.06" rpy="0 0 0" />
    <parent link="L_arm_l3" />
    <child link="L_arm_l4" />
    <axis xyz="0 1 0" />
    <limit lower="-3.071" upper="0.244" effort="80" velocity="2.7" />
  </joint>
  <link name="L_arm_l5">
    <inertial>
      <origin xyz="0.06497 -0.00266 1.20027E-05" rpy="0 0 0" />
      <mass value="0.64582" />
      <inertia ixx="0.00034" ixy="5.36478E-06" ixz="-1.58049E-07" iyy="0.00056" iyz="4.90514E-08"
        izz="0.00052" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l5.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l5.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j5" type="revolute">
    <origin xyz="0.1938 -0.0434 -0.04" rpy="0 0 0" />
    <parent link="L_arm_l4" />
    <child link="L_arm_l5" />
    <axis xyz="1 0 0" />
    <limit lower="-3.071" upper="3.071" effort="25" velocity="2.7" />
  </joint>
  <link name="L_arm_l6">
    <inertial>
      <origin xyz="0.05526 -0.02615 -0.00267" rpy="0 0 0" />
      <mass value="0.5542" />
      <inertia ixx="0.00029" ixy="4.89061E-05" ixz="1.80626E-06" iyy="0.00042" iyz="-1.41013E-06"
        izz="0.00038" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/L_arm_l6.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/L_arm_l6.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j6" type="revolute">
    <origin xyz="0.0762 0.0319 0" rpy="0 0 0" />
    <parent link="L_arm_l5" />
    <child link="L_arm_l6" />
    <axis xyz="0 1 0" />
    <limit lower="-1.396" upper="1.396" effort="25" velocity="2.7" />
  </joint>
  <link name="L_arm_l7">
    <inertial>
      <origin xyz="0.032 5.48376E-05 -0.01786" rpy="0 0 0" />
      <mass value="0.35802" />
      <inertia ixx="0.0002" ixy="-1.17395E-08" ixz="8.05897E-05" iyy="0.00031" iyz="-2.54703E-08"
        izz="0.00034" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l7.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l7.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j7" type="revolute">
    <origin xyz="0.065 -0.032 0.0319" rpy="0 0 0" />
    <parent link="L_arm_l6" />
    <child link="L_arm_l7" />
    <axis xyz="0 0 1" />
    <limit lower="-1.378" upper="1.117" effort="25" velocity="2.7" />
  </joint>
  <link name="L_arm_l8">
    <inertial>
      <origin xyz="-0.01782 -0.00021 0.00027" rpy="0 0 0" />
      <mass value="0.20064" />
      <inertia ixx="9.24605E-05" ixy="7.92184E-08" ixz="3.41865E-07" iyy="5.72813E-05"
        iyz="2.16589E-07" izz="5.67577E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 -1.57079 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l8.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 -1.57079 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l8.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="L_arm_j8" type="fixed">
    <origin xyz="0.11597 0 -0.032" rpy="0 1.57079 0" />
    <parent link="L_arm_l7" />
    <child link="L_arm_l8" />
  </joint>
  <link name="L_ee" />
  <joint name="L_ee_j0" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 -1.57079" />
    <parent link="L_arm_l8" />
    <child link="L_ee" />
  </joint>
  <link name="R_arm_l1">
    <inertial>
      <origin xyz="0.02833 -0.05 0.0054" rpy="0 0 0" />
      <mass value="1.42401" />
      <inertia ixx="0.00159" ixy="0.00028" ixz="-4.07181E-05" iyy="0.00166" iyz="4.33627E-05"
        izz="0.00202" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/R_arm_l1.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/R_arm_l1.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="R_arm_j1" type="revolute">
    <origin xyz="0 -0.16946 0" rpy="0 0 0" />
    <parent link="arm_center" />
    <child link="R_arm_l1" />
    <axis xyz="0 -1 0" />
    <limit lower="-3.071" upper="3.071" effort="150" velocity="2.4" />
  </joint>
  <link name="R_arm_l2">
    <inertial>
      <origin xyz="0.08749 -1.34526E-06 -0.04135" rpy="0 0 0" />
      <mass value="1.40595" />
      <inertia ixx="0.00168" ixy="-6.23948E-08" ixz="0.00041" iyy="0.00441" iyz="2.02625E-07"
        izz="0.00412" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l2.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l2.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="R_arm_j2" type="revolute">
    <origin xyz="0.04 -0.06 0.0454" rpy="0 0 0" />
    <parent link="R_arm_l1" />
    <child link="R_arm_l2" />
    <axis xyz="0 0 1" />
    <limit lower="-1.553" upper="0.453" effort="150" velocity="2.4" />
  </joint>
  <link name="R_arm_l3">
    <inertial>
      <origin xyz="0.08127 0.00414 0.04053" rpy="0 0 0" />
      <mass value="1.1608" />
      <inertia ixx="0.0017" ixy="-0.00011" ixz="-0.00104" iyy="0.00337" iyz="-8.33494E-05"
        izz="0.00257" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l3.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l3.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="R_arm_j3" type="revolute">
    <origin xyz="0.1644 0 -0.043" rpy="0 0 0" />
    <parent link="R_arm_l2" />
    <child link="R_arm_l3" />
    <axis xyz="1 0 0" />
    <limit lower="-3.071" upper="3.071" effort="80" velocity="2.7" />
  </joint>
  <link name="R_arm_l4">
    <inertial>
      <origin xyz="0.07728 -0.03736 -0.02906" rpy="0 0 0" />
      <mass value="0.93204" />
      <inertia ixx="0.00101" ixy="0.00023" ixz="0.00042" iyy="0.00305" iyz="-0.00011" izz="0.00274" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l4.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l4.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="R_arm_j4" type="revolute">
    <origin xyz="0.113 0.0433 0.06" rpy="0 0 0" />
    <parent link="R_arm_l3" />
    <child link="R_arm_l4" />
    <axis xyz="0 1 0" />
    <limit lower="-3.071" upper="0.244" effort="80" velocity="2.7" />
  </joint>
  <link name="R_arm_l5">
    <inertial>
      <origin xyz="0.06457 0.0025 -1.30383E-05" rpy="0 0 0" />
      <mass value="0.64582" />
      <inertia ixx="0.00034" ixy="-5.39003E-06" ixz="1.71575E-07" iyy="0.00056" iyz="3.8718E-08"
        izz="0.00052" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="3.14159 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/visual/arm_l5.glb" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="3.14159 0 0" />
      <geometry>
        <mesh filename="../vega_1/meshes/collision/arm_l5.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="R_arm_j5" type="revolute">
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