<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from meca_500_r3.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="meca_500_r3">
  <!-- Base link is the center of the robot's bottom plate -->
  <link name="meca_base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_base.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_base_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint 1 -->
  <link name="meca_axis_1_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j1.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="meca_axis_1_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.012498 0 0.091"/>
    <parent link="meca_base_link"/>
    <child link="meca_axis_1_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="10.0" lower="-3.05433" upper="3.05433" velocity="2.61799"/>
  </joint>
  <!-- Joint 2 -->
  <link name="meca_axis_2_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="meca_axis_2_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.044"/>
    <parent link="meca_axis_1_link"/>
    <child link="meca_axis_2_link"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-1.22173048" upper="1.5708" velocity="2.61799"/>
  </joint>
  <!-- Joint 3 -->
  <link name="meca_axis_3_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j3.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j3_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="meca_axis_3_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.135"/>
    <parent link="meca_axis_2_link"/>
    <child link="meca_axis_3_link"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-2.35619" upper="1.22173048" velocity="3.14159"/>
  </joint>
  <!-- Joint 4 -->
  <link name="meca_axis_4_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j4.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j4_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="meca_axis_4_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.038"/>
    <parent link="meca_axis_3_link"/>
    <child link="meca_axis_4_link"/>
    <axis xyz="1 0 0"/>
    <limit effort="10.0" lower="-2.96706" upper="2.96706" velocity="5.23599"/>
  </joint>
  <!-- Joint 5 -->
  <link name="meca_axis_5_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j5.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j5_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="meca_axis_5_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.12 0 0"/>
    <parent link="meca_axis_4_link"/>
    <child link="meca_axis_5_link"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-2.00713" upper="2.00713" velocity="5.23599"/>
  </joint>
  <!-- Joint 6 -->
  <link name="meca_axis_6_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j6.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://mecademic_description/meshes/meca_500_r3_j6_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="meca_axis_6_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.07 0 0"/>
    <parent link="meca_axis_5_link"/>
    <child link="meca_axis_6_link"/>
    <axis xyz="1 0 0"/>
    <limit effort="10.0" lower="-3.14159" upper="3.14159" velocity="8.72665"/>
  </joint>
</robot>
