<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from puma560_robot.urdf.xacro       | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Puma560">
  <link name="link1">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link1.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_collision1.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0"/>
    </collision>
  </link>
  <link name="link2">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link2.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.07493 0"/>
      <!-- X-forward, Y-Up, Z-left -->
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_collision2.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0.07493 0"/>
    </collision>
  </link>
  <joint name="j1" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="1.570796325 0 0" xyz="0 0 0.54864"/>
    <axis xyz="0 1 0"/>
    <!-- This is descibed in child frame -->
    <limit effort="1000.0" lower="-3.14159265" upper="3.14159265" velocity="0"/>
  </joint>
  <link name="link3">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link3.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin xyz="0 0 0.0254"/>
      <!-- X-forward, Y-Up, Z-right -->
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_collision3.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin xyz="0 0 0.0254"/>
    </collision>
  </link>
  <joint name="j2" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0 0.07493 0.14224"/>
    <!-- X-forward, Y-Up, Z-right -->
    <axis xyz="0 0 1"/>
    <!-- This is descibed in child frame -->
    <limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
  </joint>
  <link name="link4">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link4.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <!-- X-Up, Y-Back, Z-right -->
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_collision4.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
    </collision>
  </link>
  <joint name="j3" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="0 0 1.570796325" xyz="0.4318 0 0.0254"/>
    <!-- X-forward, Y-Up, Z-right -->
    <axis xyz="0 0 1"/>
    <!-- This is descibed in child frame -->
    <limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
  </joint>
  <link name="link5">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link5.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.02032"/>
      <!-- X-back, Y-right, Z-up -->
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_collision5.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.02032"/>
    </collision>
  </link>
  <joint name="j4" type="revolute">
    <parent link="link4"/>
    <child link="link5"/>
    <origin rpy="-1.570796325 0 -1.570796325" xyz="0.35179 0 -0.0381"/>
    <!-- X-Up, Y-Back, Z-right -->
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
  </joint>
  <link name="link6">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link6.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <!-- X-back, Y-down, Z-right -->
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_collision6.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
    </collision>
  </link>
  <joint name="j5" type="revolute">
    <parent link="link5"/>
    <child link="link6"/>
    <origin rpy="1.570796325 0 0" xyz="0 0 0.080299"/>
    <!-- X-back, Y-right, Z-up -->
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
  </joint>
  <link name="link7">
    <visual>
      <geometry>
        <mesh filename="package://puma560_description/meshes/puma560_link7.dae" scale="1.0 1.0 1.0"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.0"/>
      <!-- Z-up-->
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01016" radius="0.0254"/>
        <!-- Simple collision for the end effector -->
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.00508"/>
      <!-- Z-up-->
    </collision>
  </link>
  <joint name="j6" type="revolute">
    <parent link="link6"/>
    <child link="link7"/>
    <origin rpy="-1.570796325 0 0" xyz="0 0.05334 0"/>
    <!-- Y-up -->
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
  </joint>
</robot>

