<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from m6ib.xacro                     | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="fanuc_m6ib" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/visual/base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.34 0.35 0.36 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/collision/base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/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="package://fanuc_m6ib_support/meshes/m6ib/collision/link_1.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/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="package://fanuc_m6ib_support/meshes/m6ib/collision/link_2.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/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="package://fanuc_m6ib_support/meshes/m6ib/collision/link_3.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/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="package://fanuc_m6ib_support/meshes/m6ib/collision/link_4.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/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="package://fanuc_m6ib_support/meshes/m6ib/collision/link_5.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_m6ib_support/meshes/m6ib/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="package://fanuc_m6ib_support/meshes/m6ib/collision/link_6.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="tool0"/>
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.450"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-2.9670" upper="2.9670" velocity="2.6179"/>
  </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="-1.5707" upper="2.7925" velocity="2.7925"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.600"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-2.9670" upper="2.9670" velocity="2.9670"/>
  </joint>
  <joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.100"/>
    <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="0.615 0 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-2.4434" upper="2.4434" velocity="6.9813"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.100 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="9.0757"/>
  </joint>
  <joint name="joint_6-tool0" type="fixed">
    <origin rpy="3.1415926535 -1.570796327 0" xyz="0 0 0"/>
    <parent link="link_6"/>
    <child link="tool0"/>
  </joint>
  <link name="base"/>
  <joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.450"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
</robot>

