<?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="newURDF">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.097666 -1.0602 0.016983"
        rpy="0 0 0" />
      <mass
        value="1.0623" />
      <inertia
        ixx="0.00202"
        ixy="7.846E-08"
        ixz="-1.6521E-08"
        iyy="0.0031488"
        iyz="-1.0021E-07"
        izz="0.0051396" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/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://newURDF/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Link1">
    <inertial>
      <origin
        xyz="0.0070301 -0.00030378 0.044333"
        rpy="0 0 0" />
      <mass
        value="2.3117" />
      <inertia
        ixx="0.0035548"
        ixy="1.4877E-06"
        ixz="3.269E-05"
        iyy="0.0024594"
        iyz="1.066E-06"
        izz="0.0036305" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/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://newURDF/meshes/Link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j1"
    type="revolute">
    <origin
      xyz="0.18701 -1.0602 0.042134"
      rpy="0 0 1.5708" />
    <parent
      link="base_link" />
    <child
      link="Link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-15.7"
      upper="15.7"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link2">
    <inertial>
      <origin
        xyz="-9.2767E-06 -0.27664 0.019763"
        rpy="0 0 0" />
      <mass
        value="0.9007" />
      <inertia
        ixx="0.0057226"
        ixy="-1.0789E-05"
        ixz="-6.9854E-13"
        iyy="0.00032946"
        iyz="-2.0483E-16"
        izz="0.0060392" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/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://newURDF/meshes/Link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j2"
    type="revolute">
    <origin
      xyz="-0.0208 0 0.085"
      rpy="-1.5708 0 -1.5708" />
    <parent
      link="Link1" />
    <child
      link="Link2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link3">
    <inertial>
      <origin
        xyz="0.0016734 -0.086963 -0.059109"
        rpy="0 0 0" />
      <mass
        value="0.72964" />
      <inertia
        ixx="0.00040609"
        ixy="-1.1866E-05"
        ixz="8.3967E-07"
        iyy="0.00028636"
        iyz="4.7151E-08"
        izz="0.00030158" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/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://newURDF/meshes/Link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j3"
    type="revolute">
    <origin
      xyz="0 -0.404 0.0563"
      rpy="0 0 -1.5708" />
    <parent
      link="Link2" />
    <child
      link="Link3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="3"
      effort="3"
      velocity="3.14" />
  </joint>
  <link
    name="Link4">
    <inertial>
      <origin
        xyz="4.9724306803875E-05 -0.00207071321291896 0.143599808817138"
        rpy="0 0 0" />
      <mass
        value="0.60214796640085" />
      <inertia
        ixx="0.000525809010016783"
        ixy="1.23868002227642E-08"
        ixz="-1.24134280805566E-08"
        iyy="0.000546950540891618"
        iyz="1.12515113310339E-06"
        izz="0.000149799542930966" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/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://newURDF/meshes/Link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j4"
    type="revolute">
    <origin
      xyz="0.047775 -0.0905 -0.0355"
      rpy="-1.5708 0 -1.5708" />
    <parent
      link="Link3" />
    <child
      link="Link4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="6.3"
      effort="3"
      velocity="3.14" />
  </joint>
  <link
    name="Link5">
    <inertial>
      <origin
        xyz="-1.00614222916379E-05 0.0581666861440572 -0.0240267717595721"
        rpy="0 0 0" />
      <mass
        value="0.218165546730634" />
      <inertia
        ixx="8.12333089853061E-05"
        ixy="1.14300936029607E-08"
        ixz="-1.13719114058548E-08"
        iyy="8.12745528093048E-05"
        iyz="-5.01183167153332E-07"
        izz="8.39758674297567E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/meshes/Link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/meshes/Link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j5"
    type="revolute">
    <origin
      xyz="0 0.023 0.241"
      rpy="1.5708 0 3.1416" />
    <parent
      link="Link4" />
    <child
      link="Link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.75"
      upper="1.75"
      effort="3"
      velocity="3.14" />
  </joint>
  <link
    name="Link6">
    <inertial>
      <origin
        xyz="2.13317252848316E-05 0.000538972898537438 0.0999352955724812"
        rpy="0 0 0" />
      <mass
        value="0.575128999928036" />
      <inertia
        ixx="0.00025728868876434"
        ixy="-1.85839768859793E-06"
        ixz="1.14575058864561E-07"
        iyy="0.000169254451988166"
        iyz="5.60715028730914E-08"
        izz="0.000243919065707014" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/meshes/Link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.749019607843137 0.749019607843137 0.749019607843137 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://newURDF/meshes/Link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="j6"
    type="revolute">
    <origin
      xyz="1.4024E-05 0.1065 -0.022997"
      rpy="1.5708 0 3.1416" />
    <parent
      link="Link5" />
    <child
      link="Link6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="6.3"
      effort="3"
      velocity="3.14" />
  </joint>
</robot>