<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from m16ib20.xacro                  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="fanuc_m16ib20">
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    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl"/>
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      <material name="">
        <color rgba="0.96 0.76 0.13 1.0"/>
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      <origin rpy="0 0 0" xyz="0 0 0"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/collision/base_link.stl"/>
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    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/collision/link_1.stl"/>
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    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/collision/link_2.stl"/>
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    </collision>
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  <link name="link_3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl"/>
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      <material name="">
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/collision/link_3.stl"/>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/collision/link_4.stl"/>
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  <link name="link_5">
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    <collision>
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        <mesh filename="../fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl"/>
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  </link>
  <link name="tool0"/>
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    <child link="link_1"/>
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    <origin rpy="0 0 0" xyz="0 -0.18759 0.77"/>
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    <child link="link_3"/>
    <axis xyz="0 -1 0"/>
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  <joint name="joint_4" type="revolute">
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  <joint name="joint_5" type="revolute">
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    <axis xyz="0 -1 0"/>
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  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.1 0 0"/>
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    <child link="link_6"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-7.8540" upper="7.8540" velocity="9.0757"/>
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  <joint name="joint_6-tool0" type="fixed">
    <parent link="link_6"/>
    <child link="tool0"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
</robot>
