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giraffe.urdf
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<?xml version='1.0' encoding='utf-8'?>
<robot name="giraffe">
<link name="gripper">
<inertial>
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<mass value="0.12794799500230522" />
<inertia ixx="2.2963960281188263e-05" iyy="4.1220821879364684e-05" izz="2.6844102287335204e-05" ixy="-6.411065400262512e-06" iyz="-6.965764690846964e-08" ixz="-3.099111931853867e-07" />
</inertial>
<visual name="gripper_visual">
<origin xyz="-0.0033119954003824857 0.031004368928997047 0.2854674914428595" rpy="-1.578235904251224 0.0005414131158789297 -1.3962152952062392" />
<geometry>
<mesh filename="package://giraffe_description/meshes/gripper.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="gripper_collision">
<origin xyz="-0.0033119954003824857 0.031004368928997047 0.2854674914428595" rpy="-1.578235904251224 0.0005414131158789297 -1.3962152952062392" />
<geometry>
<mesh filename="package://giraffe_description/meshes/gripper.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="wrist_2">
<inertial>
<origin xyz="-0.02235167904590888 -0.00039972306754894717 -0.0012884800639650607" rpy="0.0 -0.0 0.0" />
<mass value="0.20479740953235442" />
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</inertial>
<visual name="wrist_2_visual">
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<geometry>
<mesh filename="package://giraffe_description/meshes/wrist_2.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="wrist_2_collision">
<origin xyz="-0.021354214645274042 0.2206097855984012 -0.020899066496239235" rpy="-0.0008359974484128125 -1.562664271760666 3.135766541990315" />
<geometry>
<mesh filename="package://giraffe_description/meshes/wrist_2.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="wrist_1">
<inertial>
<origin xyz="0.01955407480307944 -0.00030209951905803224 0.026768801085658007" rpy="0.0 -1.1498681155338425e-23 -2.584939414228212e-26" />
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</inertial>
<visual name="wrist_1_visual">
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<geometry>
<mesh filename="package://giraffe_description/meshes/wrist_1.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="wrist_1_collision">
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<geometry>
<mesh filename="package://giraffe_description/meshes/wrist_1.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="elbow">
<inertial>
<origin xyz="-0.019109899420648016 -0.0019478420126233331 0.062377972599983254" rpy="0.0 -1.1766070558741976e-23 0.0" />
<mass value="0.3407348467366932" />
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</inertial>
<visual name="elbow_visual">
<origin xyz="-0.01857530598299039 0.008291687482204822 0.009868027761990259" rpy="-1.5707963267127854 -6.404382232928635e-16 3.1415926534651977" />
<geometry>
<mesh filename="package://giraffe_description/meshes/elbow.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="elbow_collision">
<origin xyz="-0.01857530598299039 0.008291687482204822 0.009868027761990259" rpy="-1.5707963267127854 -6.404382232928635e-16 3.1415926534651977" />
<geometry>
<mesh filename="package://giraffe_description/meshes/elbow.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="shoulder_lift">
<inertial>
<origin xyz="0.018401845016294084 0.06764007255137808 0.0024587901675857007" rpy="-2.5243548967072383e-29 3.2427363422303987e-23 2.584939414228212e-26" />
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</inertial>
<visual name="shoulder_lift_visual">
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<geometry>
<mesh filename="package://giraffe_description/meshes/shoulder_lift.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="shoulder_lift_collision">
<origin xyz="0.013526461857575818 0.04663671319906652 0.1165941136588908" rpy="-1.5707963270017984 0.0007586542251355672 -2.0674688021030666e-10" />
<geometry>
<mesh filename="package://giraffe_description/meshes/shoulder_lift.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="shoulder_pan">
<inertial>
<origin xyz="0.018989018317661446 0.00017947215105527215 -0.005711008429640101" rpy="3.944304526105059e-31 -0.0 -1.1697403604428189e-46" />
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<inertia ixx="0.00012637111682452972" iyy="0.00016812578804249143" izz="8.320948601341473e-05" ixy="3.813725159964722e-08" iyz="-5.940475711036124e-07" ixz="2.00653509348529e-05" />
</inertial>
<visual name="shoulder_pan_visual">
<origin xyz="-0.09115887303880836 0.0059308387053767 0.06458670903944891" rpy="-1.998138486507446e-15 1.56795957134278e-13 -1.570037672569761" />
<geometry>
<mesh filename="package://giraffe_description/meshes/shoulder_pan.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="shoulder_pan_collision">
<origin xyz="-0.09115887303880836 0.0059308387053767 0.06458670903944891" rpy="-1.998138486507446e-15 1.56795957134278e-13 -1.570037672569761" />
<geometry>
<mesh filename="package://giraffe_description/meshes/shoulder_pan.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<link name="base_link">
<inertial>
<origin xyz="0.04880840731253524 -0.00010333124781364511 0.013957019259335951" rpy="0.0 0.0 0.0" />
<mass value="0.8122108919622869" />
<inertia ixx="0.00040099850145791546" iyy="0.0008345308393097872" izz="0.000910165502492747" ixy="6.247300245828693e-07" iyz="3.2223357736979584e-07" ixz="-8.11613437448894e-05" />
</inertial>
<visual name="base_link_visual">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://giraffe_description/meshes/base_link.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
<collision name="base_link_collision">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://giraffe_description/meshes/base_link.stl" scale="0.001 0.001 0.001" />
</geometry>
</collision>
</link>
<joint name="base_link_shoulder_pan_joint" type="revolute">
<origin xyz="0.09891995753862716 -0.00013303607482287617 0.05455000000000001" rpy="3.189786117866041e-15 3.393805650568627e-16 -0.0007586542251351899" />
<parent link="base_link" />
<child link="shoulder_pan" />
<axis xyz="-4.930380657631324e-32 2.37251531204244e-15 1.0" />
<limit lower="-1.832596" upper="1.832596" effort="1000000" velocity="1000000" />
</joint>
<joint name="shoulder_pan_shoulder_lift_joint" type="revolute">
<origin xyz="0.02571940999999997 0.018944660000000037 0.017376069999999952" rpy="1.5707963267950535 -2.0674681179012968e-10 -1.5715549810200329" />
<parent link="shoulder_pan" />
<child link="shoulder_lift" />
<axis xyz="-0.9999997122218972 2.0674449874803995e-10 0.0007586541523615138" />
<limit lower="-0.785398" upper="1.658063" effort="1000000" velocity="1000000" />
</joint>
<joint name="shoulder_lift_elbow_joint" type="revolute">
<origin xyz="0.037893485547286214 0.10949145999216181 -0.025196435301140276" rpy="3.1415926535895418 2.265006756586156e-14 -3.364010369466755e-10" />
<parent link="shoulder_lift" />
<child link="elbow" />
<axis xyz="1.0000002880403989 -1.245357002578147e-10 -3.456292375562768e-07" />
<limit lower="-1.53589" upper="1.780236" effort="1000000" velocity="1000000" />
</joint>
<joint name="elbow_wrist_1_joint" type="revolute">
<origin xyz="-0.03761630670794674 -0.0022157899953267803 0.12026017684096592" rpy="1.8787933722333255e-13 2.512616851854867e-14 -2.476481313343611e-10" />
<parent link="elbow" />
<child link="wrist_1" />
<axis xyz="-0.9999998631005341 -1.23112379231774e-10 0.0007583461697307804" />
<limit lower="-1.797689" upper="1.797689" effort="1000000" velocity="1000000" />
</joint>
<joint name="wrist_1_wrist_2_joint" type="revolute">
<origin xyz="0.027165827341760113 -0.00019891999664992 0.06031796682590525" rpy="-3.049102007927164 1.5625820319968764 -1.4783560893203032" />
<parent link="wrist_1" />
<child link="wrist_2" />
<axis xyz="-0.9999449329225374 0.006662002215913354 -0.008132268196377131" />
<limit lower="-3.141593" upper="3.141593" effort="1000000" velocity="1000000" />
</joint>
<joint name="wrist_2_gripper_joint" type="revolute">
<origin xyz="-0.017171676526959914 -0.019310353391698003 -0.025579471562416883" rpy="-1.5708498378135036 -0.0081791843801793 0.0007586796016244804" />
<parent link="wrist_2" />
<child link="gripper" />
<axis xyz="-0.007420635544791429 -0.0007590000001611277 -0.9999726580742655" />
<limit lower="0.0" upper="1.570796" effort="1000000" velocity="1000000" />
</joint>
</robot>