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+<?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="Gloria_M">
+<mujoco>
+     <compiler meshdir="../meshes/" balanceinertia="true" discardvisual="false" />
+    <contact>
+      <exclude body1="base_link" body2="Link1"/>
+      <exclude body1="Link1" body2="Link2"/>
+      <exclude body1="Link2" body2="Link3"/>
+      <exclude body1="Link3" body2="Link4"/>
+      <exclude body1="Link4" body2="Link5"/>
+      <exclude body1="Link5" body2="Link6"/>
+      <exclude body1="Link6" body2="left_gripper"/>
+      <exclude body1="left_gripper" body2="right_gripper"/>
+    </contact>
+  </mujoco>
+  <link
+    name="base_link">
+    <inertial>
+      <origin
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+        rpy="0 0 0" />
+      <mass
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+        ixz="-1.0447426151954E-07"
+        iyy="0.000196188909808811"
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+        izz="0.000120700015251833" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.890196078431372 0.890196078431372 0.913725490196078 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>
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+        rpy="0 0 0" />
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+        iyy="6.78154772709863E-06"
+        iyz="-3.33702342123091E-08"
+        izz="8.41996124461422E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../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="../meshes/link1.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint1"
+    type="prismatic">
+    <origin
+      xyz="0.1295 -8.373E-05 0.050653"
+      rpy="-3.1416 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link1" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.05"
+      upper="0"
+      effort="5"
+      velocity="10" />
+  </joint>
+  <link
+    name="link2">
+    <inertial>
+      <origin
+        xyz="-0.0446884465873861 0.000176062070498043 -0.0113671984108968"
+        rpy="0 0 0" />
+      <mass
+        value="0.0296288921925423" />
+      <inertia
+        ixx="5.57058995516245E-06"
+        ixy="-4.01857631687329E-08"
+        ixz="1.30093990846976E-06"
+        iyy="6.78154772709861E-06"
+        iyz="-3.33702342122992E-08"
+        izz="8.41996124461421E-06" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/link2.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/link2.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="joint2"
+    type="prismatic">
+    <origin
+      xyz="0.1295 -8.373E-05 -0.050347"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="link2" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="0"
+      upper="0.05"
+      effort="5"
+      velocity="10" />
+  </joint>
+  <link
+    name="tool0">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.005" />
+      </geometry>
+      <material
+        name="green_virtual_sphere_material">
+        <color
+          rgba="0 1 0 1" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="tool0_fixed_joint"
+    type="fixed">
+    <origin
+      xyz="0.1295 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="base_link" />
+    <child
+      link="tool0" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+</robot>
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