<?xml version="1.0" ?>
<robot name="borunte">
  <material name="Black">
    <color rgba="0.1 0.1 0.1 0.99"/>
  </material>
  <material name="DarkRed">
    <color rgba="0.5 0.0 0.0 0.99"/>
  </material>
  <!-- link list -->
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
      <material name="Black"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/base_link_collision.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
    </collision>
  </link>
  <link name="link_1">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
      <material name="DarkRed"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_1_collision.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <link name="link_2">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
      <material name="DarkRed"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_2_collision.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <link name="link_3">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
      <material name="DarkRed"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_3_collision.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <link name="link_4">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4.stl"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
      <material name="DarkRed"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_4_collision.stl"/>
      </geometry>
      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <link name="link_5">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="DarkRed"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_5_collision.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <link name="link_6">
    <visual>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6.stl"/>
      </geometry>
      <origin rpy="0 0 0.0" xyz="0 0 0"/>
      <material name="DarkRed"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="/home/aarizona/projects/modbus_test/urdf_support/borunte_support/meshes/link_6_collision.stl"/>
      </geometry>
      <origin rpy="0 0 0.0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <mass value="100"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <!-- joint list -->
  <joint name="joint_1" type="revolute">
    <limit effort="1000.0" lower="-3.076" upper="3.076" velocity="3.14"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0.0 0.0 0.0" xyz="0 0 0.24"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <!-- actual limit -1.74, reduced to reduce config problems -->
    <limit effort="1000.0" lower="-1.0" upper="2.35" velocity="1.0"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 1 0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.07 0.09 0.165"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <limit effort="1000.0" lower="-2.094" upper="1.570" velocity="1.3"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 1 0"/>
    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.39"/>
  </joint>
  <joint name="joint_4" type="revolute">
    <!-- actual limit +-2.094, reduced to reduce config problems -->
    <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="2.0"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.125 -0.09 0.075"/>
  </joint>
  <joint name="joint_5" type="revolute">
    <limit effort="1000.0" lower="-1.919" upper="2.094" velocity="2.35"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 1 0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 0.31"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <limit effort="1000.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.35"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0.0 0.0 0.0" xyz="0 0 0.104"/>
  </joint>
  <!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="flange"/>
  <joint name="joint_6-flange" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.015"/>
    <parent link="link_6"/>
    <child link="flange"/>
  </joint>
  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  <link name="tool0"/>
  <joint name="flange-tool0" type="fixed">
    <!-- marker -->
    <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
    <parent link="flange"/>
    <child link="tool0"/>
  </joint>
  <!-- 'world' frame: default pose reference frame -->
  <link name="world"/>
  <joint name="world-base_link" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <child link="world"/>
    <parent link="base_link"/>
  </joint>
</robot>
