<?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:   Build Version: 1.6.9319.32025
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="urdf_manipulator_v2.SLDASM">
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    name="base_link">
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        xyz="0.00050284 -9.5958E-05 0.031214"
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        ixz="5.0218E-09"
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        iyz="-6.6974E-08"
        izz="0.00027364" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://urdf_manipulator_v2.SLDASM/meshes/base_link.STL" />
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      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
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    name="y1_manipulator">
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        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://urdf_manipulator_v2.SLDASM/meshes/y1_manipulator.STL" />
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      <material
        name="">
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          rgba="0.79216 0.81961 0.93333 1" />
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    </collision>
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    name="yaw 1 "
    type="revolute">
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      xyz="0 0 0.053"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
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      <material
        name="">
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        <mesh
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    name="pitch 1"
    type="revolute">
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      xyz="0 -0.0027743 0.065"
      rpy="0 0 0" />
    <parent
      link="y1_manipulator" />
    <child
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    <limit
      lower="-3.1416"
      upper="3.1416"
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      velocity="0" />
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    name="p2_manipulator">
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        rpy="0 0 0" />
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://urdf_manipulator_v2.SLDASM/meshes/p2_manipulator.STL" />
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      <material
        name="">
        <color
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
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      </geometry>
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  <joint
    name="pitch 2"
    type="revolute">
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      link="p1_manipulator" />
    <child
      link="p2_manipulator" />
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  <link
    name="p3_manipulator">
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      <origin
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        <mesh
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      <origin
        xyz="0 0 0"
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        <mesh
          filename="package://urdf_manipulator_v2.SLDASM/meshes/p3_manipulator.STL" />
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    </collision>
  </link>
  <joint
    name="pitch 3"
    type="revolute">
    <origin
      xyz="0.21901 0.038775 0"
      rpy="0 0 0" />
    <parent
      link="p2_manipulator" />
    <child
      link="p3_manipulator" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="y2_manipulator">
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      <origin
        xyz="0.02242560633216 0.000119925384751773 -0.0359686728704602"
        rpy="0 0 0" />
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        izz="2.08789891171415E-05" />
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    <visual>
      <origin
        xyz="0 0 0"
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        <mesh
          filename="package://urdf_manipulator_v2.SLDASM/meshes/y2_manipulator.STL" />
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      <material
        name="">
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    <collision>
      <origin
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        <mesh
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  </link>
  <joint
    name="yaw 2"
    type="revolute">
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      rpy="0 0 0" />
    <parent
      link="p3_manipulator" />
    <child
      link="y2_manipulator" />
    <axis
      xyz="0 0 -1" />
    <limit
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      effort="0"
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  <link
    name="r1_manipulator">
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    <visual>
      <origin
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      <material
        name="">
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    <collision>
      <origin
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        <mesh
          filename="package://urdf_manipulator_v2.SLDASM/meshes/r1_manipulator.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="roll 1"
    type="revolute">
    <origin
      xyz="0.04865 0 -0.0435"
      rpy="0 0 0" />
    <parent
      link="y2_manipulator" />
    <child
      link="r1_manipulator" />
    <axis
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    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="0"
      velocity="0" />
  </joint>
</robot>