<?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="xin">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="2.2062E-06 -0.089452 0.015312"
        rpy="0 0 0" />
      <mass
        value="1.0633" />
      <inertia
        ixx="0.0031488"
        ixy="-7.846E-08"
        ixz="1.0021E-07"
        iyy="0.00202"
        iyz="-1.6521E-08"
        izz="0.0051396" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Link1">
    <inertial>
      <origin
        xyz="-0.0071819 0.00031034 0.061598"
        rpy="0 0 0" />
      <mass
        value="2.2629" />
      <inertia
        ixx="0.0035533"
        ixy="1.4877E-06"
        ixz="-3.269E-05"
        iyy="0.0024578"
        iyz="-1.066E-06"
        izz="0.0036303" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j1"
    type="continuous">
    <origin
      xyz="0 0 0.024"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="Link1" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link2">
    <inertial>
      <origin
        xyz="0.22947 -0.0031632 -0.0022707"
        rpy="0 0 0" />
      <mass
        value="0.97482" />
      <inertia
        ixx="0.00042566"
        ixy="0.00027677"
        ixz="-1.1303E-15"
        iyy="0.0043535"
        iyz="-6.9832E-13"
        izz="0.0047666" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j2"
    type="revolute">
    <origin
      xyz="-0.001395 0 0.1015"
      rpy="1.5708 0 -1.5708" />
    <parent
      link="Link1" />
    <child
      link="Link2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="3.14"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link3">
    <inertial>
      <origin
        xyz="0.086963 0.0016734 -0.017806"
        rpy="0 0 0" />
      <mass
        value="0.72964" />
      <inertia
        ixx="0.00028636"
        ixy="1.1866E-05"
        ixz="-4.7151E-08"
        iyy="0.00040609"
        iyz="8.3967E-07"
        izz="0.00030158" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j3"
    type="revolute">
    <origin
      xyz="0.3265 0 -0.0071975"
      rpy="0 0 0" />
    <parent
      link="Link2" />
    <child
      link="Link3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="1.57"
      effort="20"
      velocity="3.14" />
  </joint>
  <link
    name="Link4">
    <inertial>
      <origin
        xyz="5.52951427810755E-05 -0.00230270444841696 0.109727165961792"
        rpy="0 0 0" />
      <mass
        value="0.541483189887007" />
      <inertia
        ixx="0.000263059603979983"
        ixy="1.23868002229671E-08"
        ixz="-1.24134280810698E-08"
        iyy="0.000284201134854818"
        iyz="1.12515113310631E-06"
        izz="0.000145605109171895" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j4"
    type="continuous">
    <origin
      xyz="0.0905 0.052775 0.0058025"
      rpy="1.5708 0 3.1416" />
    <parent
      link="Link3" />
    <child
      link="Link4" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="20"
      velocity="3.14" />
  </joint>
  <link
    name="Link5">
    <inertial>
      <origin
        xyz="0.056542 0.0013106 0.0010268"
        rpy="0 0 0" />
      <mass
        value="0.21817" />
      <inertia
        ixx="8.1275E-05"
        ixy="1.143E-08"
        ixz="5.0118E-07"
        iyy="8.1233E-05"
        iyz="1.1372E-08"
        izz="8.3976E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j5"
    type="revolute">
    <origin
      xyz="0.001627 0 0.18467"
      rpy="1.5708 0 0" />
    <parent
      link="Link4" />
    <child
      link="Link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="3.14"
      effort="20"
      velocity="3.14" />
  </joint>
  <link
    name="Link6">
    <inertial>
      <origin
        xyz="-7.7997E-06 1.2767E-05 0.10159"
        rpy="0 0 0" />
      <mass
        value="0.56255" />
      <inertia
        ixx="0.00025673"
        ixy="-1.884E-06"
        ixz="-1.1047E-07"
        iyy="0.00016698"
        iyz="-7.6179E-08"
        izz="0.00024233" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://xin/meshes/Link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j6"
    type="revolute">
    <origin
      xyz="0.10487 0.0013347 0"
      rpy="1.5708 0 1.5708" />
    <parent
      link="Link5" />
    <child
      link="Link6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="3.66"
      effort="20"
      velocity="3.14" />
  </joint>
</robot>