<?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="yunhua_ryhj">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.073946 -7.5783E-05 0.079686"
        rpy="0 0 0" />
      <mass
        value="26.825" />
      <inertia
        ixx="0.29447"
        ixy="-0.00068906"
        ixz="-0.0018702"
        iyy="0.70624"
        iyz="8.3009E-05"
        izz="0.88713" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.1451 0.1451 0.1451 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.040145 -0.0017665 -0.17281"
        rpy="0 0 0" />
      <mass
        value="39.487" />
      <inertia
        ixx="0.98418"
        ixy="-0.16112"
        ixz="-0.47642"
        iyy="1.5184"
        iyz="-0.10144"
        izz="1.2525" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link1.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://yunhua_ryhj/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0 0 0.511"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.617995"
      upper="2.617995"
      effort="0"
      velocity="2.827" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="-0.030086 0.33235 0.14338"
        rpy="0 0 0" />
      <mass
        value="11.602" />
      <inertia
        ixx="0.54948"
        ixy="0.0072392"
        ixz="0.0022966"
        iyy="0.040699"
        iyz="-0.0016648"
        izz="0.56667" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.225 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.448624"
      upper="1.570797"
      effort="0"
      velocity="2.827" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="0.080981 0.12571 -9.0574E-05"
        rpy="0 0 0" />
      <mass
        value="13.961" />
      <inertia
        ixx="0.19012"
        ixy="-0.11007"
        ixz="0.0065658"
        iyy="0.19149"
        iyz="0.011087"
        izz="0.28951" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link3.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://yunhua_ryhj/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint3"
    type="revolute">
    <origin
      xyz="0 0.76 0"
      rpy="0 0 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.308998"
      upper="1.186824"
      effort="0"
      velocity="3.463" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="-0.0016575 0.026244 0.35186"
        rpy="0 0 0" />
      <mass
        value="10.585" />
      <inertia
        ixx="0.16278"
        ixy="0.00030377"
        ixz="0.0018777"
        iyy="0.18729"
        iyz="-0.010668"
        izz="0.051504" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="revolute">
    <origin
      xyz="0.9915 0.215 0"
      rpy="0 -1.5708 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.356196"
      upper="2.356196"
      effort="0"
      velocity="7.106" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="-5.2388E-05 -0.061382 -0.0003515"
        rpy="0 0 0" />
      <mass
        value="1.0093" />
      <inertia
        ixx="0.0042625"
        ixy="6.072E-07"
        ixz="-2.4533E-07"
        iyy="0.0023268"
        iyz="-0.00020667"
        izz="0.0032649" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 3.1416 -1.5708" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.570797"
      upper="2.268929"
      effort="0"
      velocity="5.639" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="-0.073417 -0.00013522 0.2336"
        rpy="0 0 0" />
      <mass
        value="0.62764" />
      <inertia
        ixx="0.0028394"
        ixy="1.5554E-06"
        ixz="0.00027709"
        iyy="0.0011602"
        iyz="-4.9029E-08"
        izz="0.0030715" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://yunhua_ryhj/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.839726"
      upper="3.839726"
      effort="0"
      velocity="0" />
  </joint>

    <link name="link_flp">
    <collision>
      <geometry>
        <box size="0.0001 0.0001 0.0001"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
  </link>

  <joint name="joint_flp" type="fixed">
    <parent link="link6"/>
    <child link="link_flp"/>
    <origin rpy="0 0 3.1415926" xyz="0 0 0.140"/>
  </joint>

  <link name="link_end">
  </link>

  <joint name="joint_end" type="fixed">
    <parent link="link_flp"/>
    <child link="link_end"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.1385635  0.0032697  0.3679281"/>
  </joint>

</robot>
