<?xml version="2.0" 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="Pro630">
  <link name="dummy_link">
  </link>
  <joint name="dummy_joint" type="fixed">
    <parent link="dummy_link"/>
    <child link="base_link"/>
  </joint>

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0161344402434911 -0.000162162688512334 0.0554241228233497"
        rpy="0 0 0" />
      <mass
        value="1.65795468093661" />
      <inertia
        ixx="0.00386227635537876"
        ixy="-1.53515099093584E-05"
        ixz="-0.000405423117517011"
        iyy="0.00526479178618686"
        iyz="-5.2281892120838E-06"
        izz="0.00413846172645392" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/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://mycobot_description/urdf/mycobot_pro_630/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="J1_Link">
    <inertial>
      <origin
        xyz="-6.91118799377376E-07 0.0144598782404965 0.0381086508027903"
        rpy="0 0 0" />
      <mass
        value="1.567" />
      <inertia
        ixx="0.001180925"
        ixy="-0.000000017"
        ixz="0.000000006"
        iyy="0.000802296"
        iyz="0.000062424"
        izz="0.001150167" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J1_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://mycobot_description/urdf/mycobot_pro_630/meshes/J1_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0 0 0.1605"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="J1_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="J2_Link">
    <inertial>
      <origin
        xyz="-2.29173833957163E-06 0.0341436588560188 0.134627373673515"
        rpy="0 0 0" />
      <mass
        value="0.772" />
      <inertia
        ixx="0.007356742"
        ixy="-0.000000105"
        ixz="-0.000000274"
        iyy="0.000007461"
        iyz="-0.000017541"
        izz="0.000574556" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J2_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://mycobot_description/urdf/mycobot_pro_630/meshes/J2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0 0.0605 0.0445"
      rpy="0 0 0" />
    <parent
      link="J1_Link" />
    <child
      link="J2_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="J3_Link">
    <inertial>
      <origin
        xyz="1.03212652958277E-06 -0.0560093102940856 0.119151815348055"
        rpy="0 0 0" />
      <mass
        value="2.385" />
      <inertia
        ixx="0.031463813"
        ixy="0.000000397"
        ixz="-0.000002338"
        iyy="0.030919350"
        iyz="-0.001638362"
        izz="0.001683438" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J3_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://mycobot_description/urdf/mycobot_pro_630/meshes/J3_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint3"
    type="revolute">
    <origin
      xyz="0 -0.00051 0.269"
      rpy="0 0 0" />
    <parent
      link="J2_Link" />
    <child
      link="J3_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.6179"
      upper="2.6179"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="J4_Link">
    <inertial>
      <origin
        xyz="4.20306334830404E-07 0.0325640723335469 0.0139416523721847"
        rpy="0 0 0" />
      <mass
        value="0.562" />
      <inertia
        ixx="0.000322651"
        ixy="0.000000001"
        ixz="0.000000001"
        iyy="0.000324290"
        iyz="0.000031124"
        izz="0.000204745" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J4_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://mycobot_description/urdf/mycobot_pro_630/meshes/J4_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="revolute">
    <origin
      xyz="0 -0.0105 0.266"
      rpy="0 0 0" />
    <parent
      link="J3_Link" />
    <child
      link="J4_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.9670"
      upper="2.9670"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="J5_Link">
    <inertial>
      <origin
        xyz="1.43488388864559E-07 0.00130029157612582 0.0359037893443566"
        rpy="0 0 0" />
      <mass
        value="0.228" />
      <inertia
        ixx="0.000345241"
        ixy="-0.000000008"
        ixz="-0.000000021"
        iyy="0.000230269"
        iyz="0.000014452"
        izz="0.000303872" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J5_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://mycobot_description/urdf/mycobot_pro_630/meshes/J5_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0 0.0385 0.054"
      rpy="0 0 3.14" />
    <parent
      link="J4_Link" />
    <child
      link="J5_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.9321"
      upper="2.9321"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="J6_Link">
    <inertial>
      <origin
        xyz="-8.87276522571029E-11 -0.00452155127232517 -0.000193927466995647"
        rpy="0 0 0" />
      <mass
        value="0.052" />
      <inertia
        ixx="0.000015356"
        ixy="0.000000008"
        ixz="0.000000000"
        iyy="0.000029432"
        iyz="0.000000000"
        izz="0.000015070" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://mycobot_description/urdf/mycobot_pro_630/meshes/J6_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://mycobot_description/urdf/mycobot_pro_630/meshes/J6_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0 -0.043 0.041"
      rpy="0 0 0" />
    <parent
      link="J5_Link" />
    <child
      link="J6_Link" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-3.0368"
      upper="3.0368"
      effort="0"
      velocity="0" />
  </joint>
</robot>