<?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="R5a">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.00013359 6.672E-05 0.031672"
        rpy="0 0 0" />
      <mass
        value="0.42272" />
      <inertia
        ixx="0.00019"
        ixy="0.00000"
        ixz="0.00000"
        iyy="0.00019"
        iyz="0.00000"
        izz="0.00020" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.0050395 -0.0077407 0.020897"
        rpy="0 0 0" />
      <mass
        value="0.096804" />
      <inertia
        ixx="0.00011"
        ixy="-0.00001"
        ixz="0.00001"
        iyy="0.00005"
        iyz="-0.00001"
        izz="0.00010" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.56471 0.56471 0.56471 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0 0 0.0565"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.094"
      upper="3.1416"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="-0.12992 -0.0011822 -2.6366E-05"
        rpy="0 0 0" />
      <mass
        value="1.1988" />
      <inertia
        ixx="0.00065"
        ixy="0.00008"
        ixz="0.00000"
        iyy="0.01647"
        iyz="0.00000"
        izz="0.01646" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="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="meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.02 0 0.047"
      rpy="0 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.1"
      upper="3.665"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="0.16181 0.0011723 -0.05455"
        rpy="0 0 0" />
      <mass
        value="0.84082" />
      <inertia
        ixx="0.00082"
        ixy="0.00008"
        ixz="-0.00074"
        iyy="0.00849"
        iyz="0.00001"
        izz="0.00834" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint3"
    type="revolute">
    <origin
      xyz="-0.264 0 0"
      rpy="-3.1416 0 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.1"
      upper="3.24"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="0.041751 0.0054236 -0.03337"
        rpy="0 0 0" />
      <mass
        value="0.12432" />
      <inertia
        ixx="0.00022"
        ixy="-0.00002"
        ixz="-0.00009"
        iyy="0.00025"
        iyz="0.00002"
        izz="0.00017" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link4.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="meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="revolute">
    <origin
      xyz="0.245 -5E-05 -0.06"
      rpy="0 0 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.671"
      upper="1.671"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="-8.3435E-05 -1.5428E-05 0.052216"
        rpy="0 0 0" />
      <mass
        value="0.63601" />
      <inertia
        ixx="0.00084"
        ixy="0.00000"
        ixz="0.00007"
        iyy="0.00082"
        iyz="0.00000"
        izz="0.00026" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0.073914 5E-05 -0.083391"
      rpy="0 0 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.671"
      upper="1.671"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="0.041697 2.4368E-05 0.00014464"
        rpy="0 0 0" />
      <mass
        value="0.44089" />
      <inertia
        ixx="0.00038"
        ixy="0.00000"
        ixz="0.00000"
        iyy="0.00028"
        iyz="0.00000"
        izz="0.00050" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0.025286 0 0.083391"
      rpy="3.1416 0 0" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.094"
      upper="2.094"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link7">
    <inertial>
      <origin
        xyz="-0.00035522 -0.007827 -0.0029883"
        rpy="0 0 0" />
      <mass
        value="0.064798" />
      <inertia
        ixx="0.00002"
        ixy="0.00000"
        ixz="0.00000"
        iyy="0.00003"
        iyz="0.00000"
        izz="0.00003" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link7.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="meshes/link7.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint7"
    type="prismatic">
    <origin
      xyz="0.08657 0.024896 -0.0002436"
      rpy="0 0 0" />
    <parent
      link="link6" />
    <child
      link="link7" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="0.044"
      effort="100"
      velocity="1000" />
  </joint>
  <link
    name="link8">
    <inertial>
      <origin
        xyz="-0.000355223470270755 0.00782768751820277 0.00242005642879778"
        rpy="0 0 0" />
      <mass
        value="0.0647981725781684" />
      <inertia
        ixx="0.00002"
        ixy="0.00000"
        ixz="0.00000"
        iyy="0.00003"
        iyz="0.00000"
        izz="0.00003" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="meshes/link8.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="meshes/link8.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint8"
    type="prismatic">
    <origin
      xyz="0.08657 -0.0249 -0.00024366"
      rpy="0 0 0" />
    <parent
      link="link6" />
    <child
      link="link8" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="0"
      upper="0.044"
      effort="100"
      velocity="1000" />
  </joint>
</robot>