ROS Software Maintainer: Dan Royer (firstname.lastname@example.org)
Sixi robot is an open source 6DOF manipulator available from https://www.marginallyclever.com/. At 80cm it can lift 2kg. With 14 absolute position sensors it does not need to home on startup.
Package is available at https://github.com/MarginallyClever/sixi-2/tree/master/ROSPackage
This package contains the URDF and mesh files for the robot.
Inertia calculations are rough approximations and should not be trusted yet.
I got Fiverr user Sachinkumar1235 to build this URDF package and then had it independently verified OK.