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The PR2 meshes are likely defined with their origins at the various link origins. When the URDF gets converted to a collada file, it's likely that the conversion tool does not account for kinematic positioning in the URDF, and instead just converts the individual mesh files. This would result in a cluster of meshes all centered at the origin.

I don't have any suggestions for an "easy" conversion, but here's what I would do:

1. Extract each link/mesh as an individual part in Solidworks
   • either by splitting parts out from the conversion you're already using
   • or converting the individual meshes referenced by @dornhege
2. Load up the PR2 in RViz, and position it in the pose you would like
3. Use tf_echo to get the transform from the base link to each individual link you have exported
4. Position the parts in Solidworks using the transforms from tf_echo

Like I said, this would likely be annoying and manual, but would probably work.