<?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: 1.6.0-1-g15f4949  Build Version: 1.6.7594.29634
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="body">
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.12179 0.11696 0.01096"
        rpy="0 0 0" />
      <mass
        value="17.308" />
      <inertia
        ixx="1E-05"
        ixy="1E-05"
        ixz="1E-05"
        iyy="1E-05"
        iyz="1E-05"
        izz="1E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="0.028239 0.017215 0.16249"
        rpy="0 0 0" />
      <mass
        value="15.895" />
      <inertia
        ixx="0.12749"
        ixy="0.0061172"
        ixz="-0.051755"
        iyy="0.19107"
        iyz="0.0054813"
        izz="0.14535" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="A1"
    type="continuous">
    <origin
      xyz="0.11803 -0.010945 0.224"
      rpy="0 0 -0.029916" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="2.97"
      upper="2.97"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="-0.0071271 -0.093595 0.26851"
        rpy="0 0 0" />
      <mass
        value="5.3423" />
      <inertia
        ixx="0.19603"
        ixy="-0.00010371"
        ixz="0.00087985"
        iyy="0.19988"
        iyz="0.004968"
        izz="0.01126" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="A2"
    type="continuous">
    <origin
      xyz="0.15 -0.04176 0.223"
      rpy="0 0.55031 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="1.13"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="0.0986087042700486 0.0483502289989524 0.0303804960811451"
        rpy="0 0 0" />
      <mass
        value="7.72670811615553" />
      <inertia
        ixx="0.019684074582195"
        ixy="-0.0101896184986966"
        ixz="-0.00407364947035626"
        iyy="0.0907259634619236"
        iyz="-0.000850103095116567"
        izz="0.0954405242924293" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="A3"
    type="continuous">
    <origin
      xyz="0 0 0.61"
      rpy="0 -0.30424 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.39"
      upper="2.84"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="0.12773 -1.0174E-05 6.4277E-05"
        rpy="0 0 0" />
      <mass
        value="2.9784" />
      <inertia
        ixx="0.0054146"
        ixy="4.6246E-05"
        ixz="1.2455E-05"
        iyy="0.022774"
        iyz="7.0339E-06"
        izz="0.02367" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="A4"
    type="continuous">
    <origin
      xyz="0.36697 0.04176 0.02"
      rpy="2.7566 0 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.23"
      upper="3.23"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="0.0157890939404032 0.00191335427754474 -3.03795913074723E-05"
        rpy="0 0 0" />
      <mass
        value="0.442068610827863" />
      <inertia
        ixx="0.000318417622727817"
        ixy="1.66291803968692E-05"
        ixz="3.22532739005473E-07"
        iyy="0.000528483563417839"
        iyz="3.26955934674257E-07"
        izz="0.00056228199234297" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="A5"
    type="continuous">
    <origin
      xyz="0.29303 0 0"
      rpy="3.1416 1.4151 3.1416" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link7">
    <inertial>
      <origin
        xyz="0.021237 -0.0010773 0.086092"
        rpy="0 0 0" />
      <mass
        value="0.16661" />
      <inertia
        ixx="0.00016499"
        ixy="4.7234E-06"
        ixz="-1.1384E-05"
        iyy="0.00012165"
        iyz="3.4116E-06"
        izz="0.00010267" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link7.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://body/meshes/link7.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="A6"
    type="continuous">
    <origin
      xyz="0.080233 0 0"
      rpy="-1.1662 0 0" />
    <parent
      link="link6" />
    <child
      link="link7" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-6.11"
      upper="6.11"
      effort="0"
      velocity="0" />
  </joint>
</robot>