<?xml version="1.0"?>
<robot name="welding_gun_robot">

    <link name="welding_gun_body">
        <visual>
            <geometry>
                <mesh filename="../urdf_support/sample/7.stl" />
            </geometry>
            <material name="metal" />
            <origin xyz="0 0 0" rpy="0 0 0" />
        </visual>
    </link>
    <link name="tcp">
        <visual>
            <geometry>
                <box size="0.05 0.05 0.05" />
            </geometry>
            <material name="red" />
        </visual>
    </link>

    <joint name="tcp_joint" type="fixed">
        <parent link="welding_gun_body" />
        <child link="tcp" />
        <origin xyz="0.353774 0.009203 -0.033794" rpy="110.766 1.620 -89.636" />
    </joint>
</robot>