<?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="fanuc_m10ia_11">

  <link name="world_link" />
  <joint name="world_joint" type="fixed">
    <parent link="world_link" />
    <child link="base_link" />
    <origin xyz="0 0 2.17" rpy="0 3.14 0" />
  </joint>

  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.012984 0.00048961 0.12327"
        rpy="0 0 0" />
      <mass
        value="13.511" />
      <inertia
        ixx="0.1373"
        ixy="0.00087636"
        ixz="0.003867"
        iyy="0.14276"
        iyz="4.9465E-05"
        izz="0.11338" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.26667 0.26667 0.26667 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.046379 0.040259 0.11802"
        rpy="0 0 0" />
      <mass
        value="10.873" />
      <inertia
        ixx="0.1054"
        ixy="-0.0045186"
        ixz="-0.021996"
        iyy="0.13842"
        iyz="-0.018604"
        izz="0.12811" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0.0064875 6.5871E-05 0.273"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="link1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.9671"
      upper="2.9671"
      effort="0"
      velocity="3.49" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="0.05291 0.17755 -0.048961"
        rpy="0 0 0" />
      <mass
        value="36.602" />
      <inertia
        ixx="11.349"
        ixy="-5.226"
        ixz="-0.2569"
        iyy="4.0762"
        iyz="-0.25187"
        izz="15.125" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.14975 -0.042266 0.172"
      rpy="1.5708 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.6581"
      upper="2.7925"
      effort="0"
      velocity="3.49" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="0.079158 -0.087511 0.069201"
        rpy="0 0 0" />
      <mass
        value="5.3113" />
      <inertia
        ixx="0.037702"
        ixy="0.0082399"
        ixz="-0.001985"
        iyy="0.020224"
        iyz="0.0023782"
        izz="0.038051" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint3"
    type="revolute">
    <origin
      xyz="0.0027653 0.79224 0.0203"
      rpy="3.1416 0 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.2289"
      upper="4.8346"
      effort="0"
      velocity="3.67" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="0.033387 -0.00015103 0.47587"
        rpy="0 0 0" />
      <mass
        value="6.9067" />
      <inertia
        ixx="0.43369"
        ixy="0.00010105"
        ixz="-0.04807"
        iyy="0.43976"
        iyz="0.00052043"
        izz="0.019367" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="revolute">
    <origin
      xyz="0.18173 -0.18635 0.062125"
      rpy="0 1.5708 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.4907"
      upper="3.4907"
      effort="0"
      velocity="7.50" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="-1.032 0.80245 0.052761"
        rpy="0 0 0" />
      <mass
        value="36.602" />
      <inertia
        ixx="11.349"
        ixy="5.226"
        ixz="0.2569"
        iyy="4.0762"
        iyz="-0.25187"
        izz="15.125" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0.045625 -0.0014127 0.90042"
      rpy="0 -1.5708 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.4435"
      upper="2.4435"
      effort="0"
      velocity="7.50" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="-0.80245 -0.0067605 -1.1271"
        rpy="0 0 0" />
      <mass
        value="36.602" />
      <inertia
        ixx="4.0762"
        ixy="-0.25187"
        ixz="-5.226"
        iyy="15.125"
        iyz="-0.2569"
        izz="11.349" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.098 0.098 0.098 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://fanuc_m10ia_11/meshes/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0.095084 0 0.046"
      rpy="-1.5708 0 -1.5708" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4.7124"
      upper="4.7124"
      effort="0"
      velocity="11.00" />
  </joint>

  <link name="ee_link" />
  <joint name="ee_joint" type="fixed">
    <parent link="link6" />
    <child link="ee_link" />
    <origin xyz="0.051 0.1209 0.3107" rpy="0 0 0" />
  </joint>

  <link name="tool_link" />
  <joint name="tool_joint" type="fixed">
    <parent link="ee_link" />
    <child link="tool_link" />
    <origin xyz="0 0 0.004" rpy="0 0 0" />
  </joint>

</robot>