<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from lrmate200id.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="fanuc_lrmate200id" 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_lrmate200id_support/meshes/lrmate200id/visual/base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.278 0.278 0.278 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/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_lrmate200id_support/meshes/lrmate200id/collision/link_5.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_6">
    <visual>
      <origin rpy="0 0 0" xyz="-0.16250 -0.03750 -0.03750"/>
      <geometry>
        <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/visual/link_63.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.15 0.15 0.15 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.16250 -0.03750 -0.03750"/>
      <geometry>
        <mesh filename="package://fanuc_lrmate200id_support/meshes/lrmate200id/collision/link_63.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="tool0"/>
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.330"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-2.965" upper="2.965" velocity="7.85"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0.050 0 0"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-1.745329" upper="2.530727" velocity="6.63"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.330"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-2.450966" upper="4.886922" velocity="9.08"/>
  </joint>
  <joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.035"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-3.315" upper="3.315" velocity="9.60"/>
  </joint>
  <joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="0.335 0 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-2.18" upper="2.18" velocity="9.51"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.237 0 0"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="1 0 0"/>
    <limit effort="0" lower="-6.285" upper="6.285" velocity="17.45"/>
  </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 0.330"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
</robot>

