<?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="reBot-DevArm_fixend">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-7.849E-06 -1.1531E-06 0.029841"
        rpy="0 0 0" />
      <mass
        value="0.83660000" />
      <inertia
        ixx="0.00133040"
        ixy="0.00000001"
        ixz="0.00000000"
        iyy="0.00213119"
        iyz="0.00000000"
        izz="0.00275877" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.62745 0.62745 0.62745 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.000113614552951627 -0.000616319527051323 0.0236476372671394"
        rpy="0 0 0" />
      <mass
        value="0.16130000" />
      <inertia
        ixx="0.00025207"
        ixy="0.00000000"
        ixz="-0.00002832"
        iyy="0.00015464"
        iyz="0.00000000"
        izz="0.00023416" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="-8.416E-05 0 0.08465"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.8"
      upper="2.8"
      effort="27"
      velocity="50" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="-0.13225622308888 -0.0030617036386309 -0.0308306967030205"
        rpy="0 0 0" />
      <mass
        value="1.32660000" />
      <inertia
        ixx="0.00073374"
        ixy="-0.00000043"
        ixz="0.00000851"
        iyy="0.01255987"
        iyz="0.00000128"
        izz="0.01281387" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.020084 0.031625 0.05555"
      rpy="-1.5708 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="0"
      effort="27"
      velocity="50" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="0.121040035791843 -0.0536211076627949 -0.0310137854608077"
        rpy="0 0 0" />
      <mass
        value="0.83530000" />
      <inertia
        ixx="0.00046807"
        ixy="-0.00003456"
        ixz="-0.00004260"
        iyy="0.00632695"
        iyz="0.00000006"
        izz="0.00648221" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="join3"
    type="revolute">
    <origin
      xyz="-0.264 0 0"
      rpy="0 0 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="0"
      effort="27"
      velocity="50" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="0.0608200956293136 -0.0511711906613122 -0.030299458623927"
        rpy="0 0 0" />
      <mass
        value="0.52000000" />
      <inertia
        ixx="0.00045986"
        ixy="0.00024219"
        ixz="-0.00000672"
        iyy="0.00075258"
        iyz="-0.00000535"
        izz="0.00066742" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="revolute">
    <origin
      xyz="0.2426 -0.054 -0.001625"
      rpy="0 0 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.87"
      upper="1.57"
      effort="7"
      velocity="200" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="-0.00502802058982517 1.73866206692364E-06 0.0386233236326755"
        rpy="0 0 0" />
      <mass
        value="0.38300000" />
      <inertia
        ixx="0.00019772"
        ixy="-0.00000062"
        ixz="-0.00002426"
        iyy="0.00021737"
        iyz="0.00000002"
        izz="0.00017191" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0.078308 -0.0375 -0.03"
      rpy="-1.5708 0 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="7"
      velocity="200" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="3.76418727127126E-06 -0.000100908819946677 0.0253308606425965"
        rpy="0 0 0" />
      <mass
        value="0.36630000" />
      <inertia
        ixx="0.00015554"
        ixy="-0.00000"
        ixz="-0.00000"
        iyy="0.00015554"
        iyz="-0.0000"
        izz="0.00013966" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0.028008 0 0.04"
      rpy="0 1.5708 0" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="7"
      velocity="200" />
  </joint>
  <link
    name="end_link">
    <inertial>
      <origin
        xyz="-0.0737654295815033 -9.5080995865868E-06 7.04327840286845E-06"
        rpy="0 0 0" />
      <mass
        value="0.5500000" />
      <inertia
        ixx="0.00037354"
        ixy="-0.00000011"
        ixz="0.00000050"
        iyy="0.00015830"
        iyz="0.00000348"
        izz="0.00045353" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/end_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://reBot-DevArm_description_fixend/meshes/end_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="end_joint"
    type="fixed">
    <origin
      xyz="0 0 0.15539"
      rpy="0 -1.5708 3.1415" />
    <parent
      link="link6" />
    <child
      link="end_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
