cadSet/text-to-cad/models/robots/elrobot/elrobot-follower.urdf

<?xml version="1.0" ?>
<robot name="Elrobot" >
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    <color rgba="0.700 0.700 0.700 1.000"/>
  </material>
  <material name="ST3215_1_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_2_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_3_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_4_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_5_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_6_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_7_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <material name="ST3215_8_1">
    <color rgba="0.00 0.00 0.00 1.000"/>
  </material>
  <link name="base_link">
    <inertial>
      <origin xyz="4.1532032114359136e-10 0.013084111185471562 0.019551044495005637" rpy="0 0 0"/>
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    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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      <material name="silver"/>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
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        <mesh filename="meshes/base_link.stl" scale="0.001 0.001 0.001"/>
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    </collision>
  </link>
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        <mesh filename="meshes/ST3215_1_v1_1.stl" scale="0.001 0.001 0.001"/>
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  </link>
  <link name="Joint_01_1">
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  <link name="Joint_04_v1_1">
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    <child link="Joint_04_v1_1"/>
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  <joint name="rev_motor_05" type="revolute">
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    <parent link="ST3215_5_v1_1"/>
    <child link="Joint_05_v1_1"/>
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    <limit upper="3.252" lower="-2.62" effort="2.94" velocity="4.71"/>
  </joint>
  <joint name="Rigid 13" type="fixed">
    <origin xyz="6.5e-05 0.0075 -1e-06" rpy="0 0 0"/>
    <parent link="Joint_05_v1_1"/>
    <child link="ST3215_6_v1_1"/>
  </joint>
  <joint name="rev_motor_06" type="revolute">
    <origin xyz="-0.019988 0.035407 0.000351" rpy="0 0 0"/>
    <parent link="ST3215_6_v1_1"/>
    <child link="Joint_06_v1_1"/>
    <axis xyz="-0.999697 0.0173 0.017525"/>
    <limit upper="1.7641" lower="-1.3775" effort="2.94" velocity="4.71"/>
  </joint>
  <joint name="Rigid 15" type="fixed">
    <origin xyz="0.020478 0.038023 -0.010611" rpy="0 0 0"/>
    <parent link="Joint_06_v1_1"/>
    <child link="ST3215_7_v1_1"/>
  </joint>
  <joint name="rev_motor_07" type="revolute">
    <origin xyz="0.000473 0.017284 0.009899" rpy="0 0 0"/>
    <parent link="ST3215_7_v1_1"/>
    <child link="Gripper_Base_v1_1"/>
    <axis xyz="-0.017144 -0.999812 0.009029"/>
    <limit upper="2.7336" lower="-3.2014" effort="2.94" velocity="4.71"/>
  </joint>
  <joint name="Rigid 17" type="fixed">
    <origin xyz="0.000776 0.045242 -0.000409" rpy="0 0 0"/>
    <parent link="Gripper_Base_v1_1"/>
    <child link="ST3215_8_v1_1"/>
  </joint>
<joint name="rev_motor_08" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
    <parent link="ST3215_8_v1_1"/>
    <child link="Gripper_Gear_v1_1"/>
    <axis xyz="0.017144 0.999812 -0.009029"/>
    <limit upper="2.2028" lower="0" effort="2.94" velocity="4.71"/>
  </joint>
  <joint name="rev_motor_08_1" type="prismatic">
    <origin xyz="0.311734 -0.199648 0.032849" rpy="0 0 0"/> 
    <parent link="Gripper_Base_v1_1"/>
    <child link="Gripper_Jaw_02_v1_1"/> 
    <axis xyz="-0.999697 0.0173 0.017525"/> 
    <limit upper="0.0" lower="-0.0255" effort="2.94" velocity="4.71"/>
    <mimic joint="rev_motor_08" multiplier="-0.0115" offset="0"/>
  </joint>
  <joint name="rev_motor_08_2" type="prismatic">
    <origin xyz="0.308573 -0.243367 -0.049391" rpy="0 0 0"/>
    <parent link="Gripper_Base_v1_1"/>
    <child link="Gripper_Jaw_01_v1_1"/> 
    <axis xyz="-0.999697 0.0173 0.017525"/> 
    <limit upper="0.0255" lower="0.0" effort="2.94" velocity="4.71"/>
    <mimic joint="rev_motor_08" multiplier="0.0115" offset="0"/>
  </joint>
</robot>