<?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="dummy">
   </link>
  <joint name="dummy_joint" type="fixed">
     <parent link="dummy"/>
     <child link="base_link"/>
   </joint>

  <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>
  <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>
</robot>
