<?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: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<!--
    ###################################################################################################################
    Note that all mass/inertial values are examples values only. They are not representative of the actual components.
    ###################################################################################################################
-->

<robot name="QARM">
  <link name="world"/>
	<joint name="world_base_joint" type="fixed">
        <origin rpy="0 0 0" xyz="0 0 0"/>
        <parent link="world"/>
        <child link="base_link"/>
    </joint>
  <link name="base_link">
    <inertial>
      <origin
        xyz="0.000529200576288575 -2.23307396420992E-06 0.0267852902177001"
        rpy="0 0 0" />
      <mass
        value="3.89847036294307" />
      <inertia
        ixx="0.0259717926187233"
        ixy="7.41706820354147E-07"
        ixz="-9.20327430275286E-08"
        iyy="0.0237418182185852"
        iyz="6.90408382921997E-11"
        izz="0.048730018421969" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/base_link.STL"/>
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link
    name="YAW">
    <inertial>
      <origin
        xyz="9.37418676855843E-09 -3.48810780368004E-09 0.115813977186301"
        rpy="0 0 0" />
      <mass
        value="0.701518504018672" />
      <inertia
        ixx="0.000478980181395404"
        ixy="3.49149750193703E-12"
        ixz="5.35348095946474E-11"
        iyy="0.000450830880977554"
        iyz="9.21997569253762E-11"
        izz="0.000625067532631923" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/YAW.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/YAW.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="YAW"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="YAW" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.967"
      upper="2.967"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="BICEP">
    <inertial>
      <origin
        xyz="0.0136584263393359 -0.234778864037209 -7.06001931450219E-05"
        rpy="0 0 0" />
      <mass
        value="0.706073338310231" />
      <inertia
        ixx="0.00242444522090698"
        ixy="2.42682372909241E-06"
        ixz="-6.26703067273348E-07"
        iyy="0.000274342515078279"
        iyz="1.69726051287685E-06"
        izz="0.00246773570290634" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/BICEP.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/BICEP.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="SHOULDER"
    type="revolute">
    <origin
      xyz="0 0 0.1397714"
      rpy="-1.5707963267949 0 0" />
    <parent
      link="YAW" />
    <child
      link="BICEP" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.483"
      upper="1.483"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="FOREARM">
    <inertial>
      <origin
        xyz="0.0372712542033594 0.155357218514742 0.000271723941997439"
        rpy="0 0 0" />
      <mass
        value="0.4296669212638" />
      <inertia
        ixx="0.000344487673462402"
        ixy="-2.89506781372207E-05"
        ixz="4.98141800994188E-07"
        iyy="0.000149695456153606"
        iyz="2.97325983931059E-06"
        izz="0.000297718151262944" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/FOREARM.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/FOREARM.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="ELBOW"
    type="revolute">
    <origin
      xyz="0.0500000000000004 -0.350000000000015 0"
      rpy="0 0 -1.42889927219074" />
    <parent
      link="BICEP" />
    <child
      link="FOREARM" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.658"
      upper="1.309"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="END-EFFECTOR">
    <inertial>
      <origin
        xyz="-7.14013714436801E-05 -4.06287319420589E-05 0.0057237846257307"
        rpy="0 0 0" />
      <mass
        value="0.025331269641348" />
      <inertia
        ixx="2.26806595610621E-06"
        ixy="7.98741449900658E-09"
        ixz="1.08626792635935E-08"
        iyy="2.22929725748166E-06"
        iyz="-5.49899749477752E-09"
        izz="4.00602755679902E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/END-EFFECTOR.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://QARM/meshes/END-EFFECTOR.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="WRIST"
    type="revolute">
    <origin
      xyz="0.0336611536380097 0.235607569369425 0"
      rpy="-1.5707963267949 0 -0.141897054604159" />
    <parent
      link="FOREARM" />
    <child
      link="END-EFFECTOR" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.010"
      upper="3.010"
      effort="0"
      velocity="0" />
  </joint>
</robot>