<?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="SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM">
  <link
    name="Base">
    <inertial>
      <origin
        xyz="0.0195624606184725 -0.0295895597276446 -2.76876897655451E-06"
        rpy="0 0 0" />
      <mass
        value="0.184098970814929" />
      <inertia
        ixx="0.000142288448859702"
        ixy="-2.26169251313517E-05"
        ixz="4.23610978246252E-09"
        iyy="0.00016758363588302"
        iyz="-2.10119213746261E-08"
        izz="0.000135962602722997" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Base.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Base.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Shoulder_Pitch_Yaw">
    <inertial>
      <origin
        xyz="-0.013299 0.079753 0.035058"
        rpy="0 0 0" />
      <mass
        value="0.092914" />
      <inertia
        ixx="5.0472E-05"
        ixy="-6.879E-06"
        ixz="3.3863E-07"
        iyy="2.252E-05"
        iyz="5.9775E-07"
        izz="5.4357E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Shoulder_Pitch_Yaw.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Shoulder_Pitch_Yaw.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Shoulder_Pitch"
    type="continuous">
    <origin
      xyz="0.01 0 0"
      rpy="-1.5708 0 -1.5723" />
    <parent
      link="Base" />
    <child
      link="Shoulder_Pitch_Yaw" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1"
      upper="3"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Upper_Humeral">
    <inertial>
      <origin
        xyz="-0.045255 0.0065486 0.04097"
        rpy="0 0 0" />
      <mass
        value="0.21817" />
      <inertia
        ixx="9.4379E-05"
        ixy="1.3581E-05"
        ixz="2.8938E-05"
        iyy="0.00021514"
        iyz="-3.2154E-06"
        izz="0.00014492" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Upper_Humeral.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Upper_Humeral.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Shoulder_Yaw"
    type="continuous">
    <origin
      xyz="-0.002 0.123 0"
      rpy="-0.00019451 1.2429E-05 0.12763" />
    <parent
      link="Shoulder_Pitch_Yaw" />
    <child
      link="Upper_Humeral" />
    <axis
      xyz="0.0015282 0 -1" />
    <limit
      lower="-1"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Humeral_Elbow">
    <inertial>
      <origin
        xyz="-0.072262 0.021725 -0.0207"
        rpy="0 0 0" />
      <mass
        value="0.16611" />
      <inertia
        ixx="5.0858E-05"
        ixy="1.3362E-05"
        ixz="-2.4207E-06"
        iyy="0.00013739"
        iyz="2.7097E-06"
        izz="0.00013639" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Humeral_Elbow.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Humeral_Elbow.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Humeral_Rotation"
    type="continuous">
    <origin
      xyz="-0.090614 0.016864 0.034762"
      rpy="-0.53649 0.06528 -0.018789" />
    <parent
      link="Upper_Humeral" />
    <child
      link="Humeral_Elbow" />
    <axis
      xyz="0.99187 -0.12728 0.0015157" />
    <limit
      lower="-1.8"
      upper="1.8"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Forearm">
    <inertial>
      <origin
        xyz="-0.02921 0.0068798 0.0036776"
        rpy="0 0 0" />
      <mass
        value="0.074077" />
      <inertia
        ixx="3.2764E-05"
        ixy="-2.3726E-06"
        ixz="-2.325E-06"
        iyy="1.9912E-05"
        iyz="-1.1135E-05"
        izz="3.1909E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Forearm.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Forearm.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Elbow"
    type="continuous">
    <origin
      xyz="-0.10713 0.0094948 0.0068692"
      rpy="0.0028871 0.021537 0.013065" />
    <parent
      link="Humeral_Elbow" />
    <child
      link="Forearm" />
    <axis
      xyz="0.10838 0.8507 0.51436" />
    <limit
      lower="-3"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Wrist_Roll_Yaw">
    <inertial>
      <origin
        xyz="-0.053889 0.0079735 -0.00086939"
        rpy="0 0 0" />
      <mass
        value="0.091826" />
      <inertia
        ixx="1.7943E-05"
        ixy="1.5108E-06"
        ixz="-1.3157E-06"
        iyy="3.104E-05"
        iyz="-2.7449E-06"
        izz="2.922E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Wrist_Roll_Yaw.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Wrist_Roll_Yaw.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wrist_Roll"
    type="continuous">
    <origin
      xyz="-0.058273 0.0045968 0.0025376"
      rpy="2.7435 -0.099808 -0.26118" />
    <parent
      link="Forearm" />
    <child
      link="Wrist_Roll_Yaw" />
    <axis
      xyz="0.98986 -0.14016 0.023243" />
    <limit
      lower="-1.8"
      upper="1.8"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="Wrist_Yaw_Pitch">
    <inertial>
      <origin
        xyz="2.7756E-17 0.0024 0.0045832"
        rpy="0 0 0" />
      <mass
        value="0.023922" />
      <inertia
        ixx="8.3081E-06"
        ixy="6.951E-21"
        ixz="-4.473E-21"
        iyy="1.0623E-05"
        iyz="-8.225E-21"
        izz="1.3498E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Wrist_Yaw_Pitch.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/Wrist_Yaw_Pitch.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wrist_Yaw"
    type="continuous">
    <origin
      xyz="-0.094575 0.013474 -0.0022794"
      rpy="1.5994 -0.62299 -1.7282" />
    <parent
      link="Wrist_Roll_Yaw" />
    <child
      link="Wrist_Yaw_Pitch" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.9"
      upper="0.5"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="End_Servo">
    <inertial>
      <origin
        xyz="-0.012801 -1.9931E-09 0.00037293"
        rpy="0 0 0" />
      <mass
        value="0.036217" />
      <inertia
        ixx="5.0606E-06"
        ixy="-1.1965E-12"
        ixz="7.0946E-08"
        iyy="9.3616E-06"
        iyz="1.0572E-12"
        izz="7.8391E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/End_Servo.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://SO_7DOF_ARM100_08h_HL_01d_URDF_01.SLDASM/meshes/End_Servo.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Wrist_Pitch"
    type="continuous">
    <origin
      xyz="0 0.0024 0.025"
      rpy="0 1.5708 0" />
    <parent
      link="Wrist_Yaw_Pitch" />
    <child
      link="End_Servo" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.8"
      upper="1.8"
      effort="0"
      velocity="0" />
  </joint>
</robot>