<?xml version="1.0" encoding="UTF-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by URDFExporter                              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Robot">
    <link name="base">
        <inertial>
            <mass value="0"/>
            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
        <visual>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link0.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0"/>
        </visual>
        <collision>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link0.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0"/>
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    </link>
    <link name="link1">
        <inertial>
            <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
            <mass value="1.00000000"/>
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        </inertial>
        <visual>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link1.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0" xyz="0.325 0 0"/>
          <!-- X-forward, Y-Up, Z-left -->
        </visual>
        <collision>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link1.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0" xyz="0.325 0 0"/>
        </collision>
    </link>
    <link name="link2">
        <inertial>
            <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
            <mass value="1.00000000"/>
            <inertia ixx="1.00000000" ixy="0.00000000" ixz="0.00000000" iyy="1.00000000" iyz="0.00000000" izz="1.00000000"/>
        </inertial>
        <visual>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link2.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="3.14 0 0" xyz="0.275 0 0"/>
          <!-- X-forward, Y-Up, Z-left -->
        </visual>
        <collision>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link2.stl" scale="1.0 1.0 1.0"/>
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          <origin rpy="3.14 0 0" xyz="0.275 0 0"/>
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    </link>
    <link name="link3">
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            <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
            <mass value="1.00000000"/>
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        </inertial>
        <visual>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link3.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <!-- X-forward, Y-Up, Z-left -->
        </visual>
        <collision>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link3.stl" scale="1.0 1.0 1.0"/>
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          <origin rpy="0 0 0" xyz="0 0 0"/>
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            <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
            <mass value="1.00000000"/>
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        <visual>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link4.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <!-- X-forward, Y-Up, Z-left -->
        </visual>
        <collision>
          <geometry>
            <mesh filename="package://omron_ecobra600_description/meshes/link4.stl" scale="1.0 1.0 1.0"/>
          </geometry>
          <origin rpy="0 0 0" xyz="0 0 0"/>
        </collision>
    </link>
    <joint name="joint1" type="revolute">
        <parent link="base"/>
        <child link="link1"/>
        <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.38700000"/>
        <axis xyz="0.00000000 0.00000000 1.00000000"/>
        <limit lower="-1.83259571" upper="1.83259571" effort="0" velocity="0"/>
    </joint>
    <joint name="joint2" type="revolute">
        <parent link="link1"/>
        <child link="link2"/>
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        <axis xyz="0.00000000 0.00000000 1.00000000"/>
        <limit lower="-2.74889357" upper="2.74889357" effort="0" velocity="0"/>
    </joint>
    <joint name="joint3" type="prismatic">
        <parent link="link2"/>
        <child link="link3"/>
        <origin rpy="3.14 0.00000000 0.00000000" xyz="0.27500000 0.00000000 0.00000000"/>
        <axis xyz="0.00000000 0.00000000 1.00000000"/>
        <limit lower="0.00000000" upper="0.21000000" effort="0" velocity="0"/>
    </joint>
    <joint name="joint4" type="revolute">
        <parent link="link3"/>
        <child link="link4"/>
        <origin rpy="0.00000000 0.00000000 0.00000000" xyz="0.00000000 0.00000000 0.00000000"/>
        <axis xyz="0.00000000 0.00000000 1.00000000"/>
        <limit lower="-3.14159265" upper="3.14159265" effort="0" velocity="0"/>
    </joint>
</robot>
