<?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: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot name="jaka_description">
  <link name="world"/>
  <link name="base_link">
    <inertial>
      <origin xyz="0.0078045 0.02052 0.0017471" rpy="0 0 0" />
      <mass value="0.51461" />
      <inertia ixx="0.00062136" ixy="3.2169E-06" ixz="-3.6994E-09" iyy="0.0013529" iyz="1.2577E-10" izz="0.00086645" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/base_link.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="fixed_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="world" />
    <child link="base_link" />

  </joint>
  <link name="link1">
    <inertial>
      <origin xyz="0.0033217 0.078637 -9.9561E-07" rpy="0 0 0" />
      <mass value="1.9281" />
      <inertia ixx="0.0054895" ixy="1.9288E-06" ixz="-8.0735E-09" iyy="0.0038887" iyz="-1.0336E-08" izz="0.0056434" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link1.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint1" type="continuous">
    <origin xyz="0.0068395 -0.0017473 0.040967" rpy="1.5708 0 1.5708" />
    <parent link="base_link" />
    <child link="link1" />
    <axis xyz="0 1 0" />
  </joint>
  <link name="link2">
    <inertial>
      <origin xyz="0.180000209977346 0.0790053241117423 1.81612678296084E-06" rpy="0 0 0" />
      <mass value="5.46194601044026" />
      <inertia ixx="0.012915357360266" ixy="-3.31771617532355E-08" ixz="-9.02794658605086E-09" iyy="0.0177711235371075" iyz="-2.29869349851466E-09" izz="0.0212789850441894" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link2.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint2" type="continuous">
    <origin xyz="0.06407 0.08015 0" rpy="-3.1416 -1.5708 1.5708" />
    <!-- rpy="-3.1416 0.61321 1.5708"-->
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0 -1 0" />
  </joint>
  <link name="link3">
    <inertial>
      <origin xyz="0.154631179365296 0.051491742581724 -9.87671775865007E-07" rpy="0 0 0" />
      <mass value="2.10990539238288" />
      <inertia ixx="0.002372120404392" ixy="-0.00148686871157693" ixz="1.61083887908488E-07" iyy="0.0128780808874665" iyz="1.06256446469924E-09" izz="0.0132375017255301" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link3.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint3" type="continuous">
    <origin xyz="0.36 0 0" rpy="0 3.1415926 -3.1415926" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0 1 0" />
  </joint>
  <link name="link4">
    <inertial>
      <origin xyz="0.0427881295343883 -0.00580030295947631 -2.00896450974763E-07" rpy="0 0 0" />
      <mass value="0.707388000054209" />
      <inertia ixx="0.000872922108461203" ixy="5.07453713157777E-05" ixz="-1.05589941183124E-08" iyy="0.000659704928306989" iyz="1.157925987427E-09" izz="0.000903595145406074" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link4.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint4" type="continuous">
    <origin xyz="0.303 -0.0054826 0" rpy="-1.5708 0 -1.5708" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="-1 0 0" />
  </joint>
  <link name="link5">
    <inertial>
      <origin xyz="-0.0436288428352644 0.00288896862860181 -1.81856948805459E-07" rpy="0 0 0" />
      <mass value="0.806925581335565" />
      <inertia ixx="0.00160859857621588" ixy="5.47741545152081E-06" ixz="-2.28416053153104E-08" iyy="0.000744710609095292" iyz="5.43826453392794E-10" izz="0.00164590181184635" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link5.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint5" type="continuous">
    <origin xyz="0.04546 -0.067529 0" rpy="3.1415926 0 1.5708" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="-1 0 0" />
  </joint>
  <link name="link6">
    <inertial>
      <origin xyz="-1.97893143202288E-05 -0.0163465977451872 2.35599506187012E-05" rpy="0 0 0" />
      <mass value="0.180494526010387" />
      <inertia ixx="9.10588208598242E-05" ixy="7.56822704641209E-09" ixz="4.08010848564993E-07" iyy="0.000143814497302076" iyz="2.17936727532836E-07" izz="9.20388606659827E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link6.STL" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://jaka_description/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="joint6" type="continuous">
    <origin xyz="-0.045971 -0.069408 0" rpy="0 -1.5708 0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0 -1 0" />
  </joint>
  <link name="tool0"/>

  <joint name="tool_joint" type="fixed">
    <origin xyz="-0.045971 -0.069408 0" rpy="0 -1.5708 0" />
    <parent link="link6" />
    <child link="tool0" />
  </joint>

</robot>
