<?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="parol6">

  <link name="world"/>
  <joint name="base_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.00"/>
  </joint>


  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0274562034602567 -0.00137265400595656 0.031237920982338"
        rpy="0 0 0" />
      <mass
        value="0.812661291810144" />
      <inertia
        ixx="0.00110740279540382"
        ixy="4.67463481205112E-05"
        ixz="8.47873933528831E-06"
        iyy="0.00106582362830227"
        iyz="-2.6194130573118E-06"
        izz="0.00147883396699374" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/base_link.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://parol6/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="L1">
    <inertial>
      <origin
        xyz="0.00524529891406311 0.0289722820784871 0.0992791429452917"
        rpy="0 0 0" />
      <mass
        value="0.644800830530233" />
      <inertia
        ixx="0.00109429409029172"
        ixy="-6.27156874097953E-05"
        ixz="-5.70466862844753E-05"
        iyy="0.00056996197700816"
        iyz="-0.000121686402940313"
        izz="0.00129487722474286" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/L1.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://parol6/meshes/L1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L1"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="L1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.7"
      upper="1.7"
      effort="300"
      velocity="3" />
  </joint>
  <link
    name="L2">
    <inertial>
      <origin
        xyz="-0.0094181617193695 -0.0783879603613605 0.0369429741417731"
        rpy="0 0 0" />
      <mass
        value="0.512334779399788" />
      <inertia
        ixx="0.00123357482646866"
        ixy="3.63236238096924E-06"
        ixz="-3.30834557934783E-07"
        iyy="0.000205462733796053"
        iyz="4.86441772103282E-07"
        izz="0.00132225033266162" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/L2.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://parol6/meshes/L2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L2"
    type="revolute">
    <origin
      xyz="0.0234207210610375 0 0.1105"
      rpy="-1.5707963267949 0 0" />
    <parent
      link="L1" />
    <child
      link="L2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.98"
      upper="1"
      effort="300"
      velocity="3" />
  </joint>
  <link
    name="L3">
    <inertial>
      <origin
        xyz="0.0155509885239593 -0.0191127686426613 -0.00153322577917236"
        rpy="0 0 0" />
      <mass
        value="0.550970997806044" />
      <inertia
        ixx="0.00057827573271994"
        ixy="0.000116505232322314"
        ixz="-1.19955293256513E-05"
        iyy="0.000567011676944701"
        iyz="1.55814255036021E-05"
        izz="0.000815862001506843" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/L3.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://parol6/meshes/L3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L3"
    type="revolute">
    <origin
      xyz="0 -0.18 0"
      rpy="3.1416 0 -1.5708" />
    <parent
      link="L2" />
    <child
      link="L3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2"
      upper="1.3"
      effort="300"
      velocity="3" />
  </joint>
  <link
    name="L4">
    <inertial>
      <origin
        xyz="0.000947028430634433 -0.008978947112462 -0.0924798659827059"
        rpy="0 0 0" />
      <mass
        value="0.39346362633915" />
      <inertia
        ixx="0.000371672516830215"
        ixy="-1.05560000666389E-05"
        ixz="-1.56899445418326E-07"
        iyy="0.000332364226344361"
        iyz="-6.10397110934672E-05"
        izz="0.000250606789571909" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/L4.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://parol6/meshes/L4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L4"
    type="revolute">
    <origin
      xyz="0.0435 0 0"
      rpy="1.5707963267949 0 3.14159265358979" />
    <parent
      link="L3" />
    <child
      link="L4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2"
      upper="2"
      effort="300"
      velocity="3" />
  </joint>
  <link
    name="L5">
    <inertial>
      <origin
        xyz="6.7162171684676E-06 -0.00621420980825221 -0.000960871025916146"
        rpy="0 0 0" />
      <mass
        value="0.185171777001718" />
      <inertia
        ixx="0.000109176748460021"
        ixy="-1.27195013439061E-07"
        ixz="8.4436049148633E-08"
        iyy="8.41307588934268E-05"
        iyz="-4.41596193640049E-07"
        izz="0.000110629136236229" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/L5.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://parol6/meshes/L5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L5"
    type="revolute">
    <origin
      xyz="0 0 -0.17635"
      rpy="-1.5708 0 0" />
    <parent
      link="L4" />
    <child
      link="L5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.1"
      upper="2.1"
      effort="300"
      velocity="3" />
  </joint>
  <link
    name="L6">
    <inertial>
      <origin
        xyz="0.00632955087228015 -0.000453856352095022 -0.0554441567386594"
        rpy="0 0 0" />
      <mass
        value="0.0703261410665101" />
      <inertia
        ixx="1.40276237518287E-05"
        ixy="3.15503246005279E-07"
        ixz="-9.28469598788221E-07"
        iyy="1.81406721166117E-05"
        iyz="-9.43630009030796E-07"
        izz="2.34608103291027E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://parol6/meshes/L6.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://parol6/meshes/L6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L6"
    type="continuous">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="L5" />
    <child
      link="L6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1"
      upper="3.1"
      effort="300"
      velocity="3" />
  </joint>

  <transmission name="TRANS_L1"> 
    <type>transmission_interface/SimpleTransmission</type> 
    <joint name="L1"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    </joint> 
    <actuator name="ACT_L1"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    <mechanicalReduction>1</mechanicalReduction> 
    </actuator> 
  </transmission> 

  <transmission name="TRANS_L2"> 
    <type>transmission_interface/SimpleTransmission</type> 
    <joint name="L2"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    </joint> 
    <actuator name="ACT_L2"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    <mechanicalReduction>1</mechanicalReduction> 
    </actuator> 
  </transmission> 

  <transmission name="TRANS_L3"> 
    <type>transmission_interface/SimpleTransmission</type> 
    <joint name="L3"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    </joint> 
    <actuator name="ACT_L3"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    <mechanicalReduction>1</mechanicalReduction> 
    </actuator> 
  </transmission> 

  <transmission name="TRANS_L4"> 
    <type>transmission_interface/SimpleTransmission</type> 
    <joint name="L4"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    </joint> 
    <actuator name="ACT_L4"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    <mechanicalReduction>1</mechanicalReduction> 
    </actuator> 
  </transmission> 

  <transmission name="TRANS_L5"> 
    <type>transmission_interface/SimpleTransmission</type> 
    <joint name="L5"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    </joint> 
    <actuator name="ACT_L5"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    <mechanicalReduction>1</mechanicalReduction> 
    </actuator> 
  </transmission> 

  <transmission name="TRANS_L6"> 
    <type>transmission_interface/SimpleTransmission</type> 
    <joint name="L6"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    </joint> 
    <actuator name="ACT_L6"> 

    <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> 
    <mechanicalReduction>1</mechanicalReduction> 
    </actuator> 
  </transmission> 

  <gazebo> 
    <plugin name="control" filename="libgazebo_ros_control.so"> 
    <robotNamespace>/</robotNamespace> 
    </plugin> 
  </gazebo> 

  <gazebo reference="L1"> 
    <selfCollide>true</selfCollide> 
  </gazebo>

  <gazebo reference="L2"> 
    <selfCollide>true</selfCollide> 
  </gazebo>

  <gazebo reference="L3"> 
    <selfCollide>true</selfCollide> 
  </gazebo>

  <gazebo reference="L4"> 
    <selfCollide>true</selfCollide> 
  </gazebo>

  <gazebo reference="L5"> 
    <selfCollide>true</selfCollide> 
  </gazebo>

  <gazebo reference="L6"> 
    <selfCollide>true</selfCollide> 
  </gazebo>

</robot>
