<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from lrmate200ib.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="fanuc_lrmate200ib">
  <!-- links: main serial chain -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_1.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_2.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_3.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_4.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_4.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_5.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_5.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_6.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.15 0.15 0.15 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_6.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- joints: main serial chain -->
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.350"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0.150 0 0"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.250"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269"/>
  </joint>
  <joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.075"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813"/>
  </joint>
  <joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="0.290 0 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.080 0 0"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775"/>
  </joint>
  <!-- ROS 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 0.350"/>
    <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"/>
    <parent link="link_6"/>
    <child link="flange"/>
  </joint>
  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  <link name="tool0"/>
  <joint name="link_6-tool0" type="fixed">
    <origin rpy="3.14159265359 -1.57079632679 0" xyz="0 0 0"/>
    <parent link="link_6"/>
    <child link="tool0"/>
  </joint>
</robot>
