<robot
  name="JACO3_URDF_V10" version="1.0">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.00077898 -4.2629E-05 0.077301"
        rpy="0 0 0" />
      <mass
        value="1.661" />
      <inertia
        ixx="0.0046774"
        ixy="-2.8192E-07"
        ixz="-4.8238E-05"
        iyy="0.0047194"
        iyz="-4.2299E-06"
        izz="0.0019958" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Shoulder_Link">
    <inertial>
      <origin
        xyz="-2.2888E-05 -0.010511 -0.075159"
        rpy="0 0 0" />
      <mass
        value="2.009" />
      <inertia
        ixx="0.0045081"
        ixy="-8.5826E-07"
        ixz="-1.8997E-06"
        iyy="0.0047695"
        iyz="-0.00045534"
        izz="0.0013903" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Shoulder_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.86667 0.86667 0.8902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Shoulder_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator1"
    type="continuous">
    <origin
      xyz="0 0 0.15643"
      rpy="3.1416 0 0" />
    <parent
      link="base_link" />
    <child
      link="Shoulder_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="39"
      velocity="0.8727" />
  </joint>
  <link
    name="HalfArm1_Link">
    <inertial>
      <origin
        xyz="-2.7821E-05 -0.097298 -0.012693"
        rpy="0 0 0" />
      <mass
        value="1.106" />
      <inertia
        ixx="0.0089168"
        ixy="-2.8995E-06"
        ixz="-1.6642E-07"
        iyy="0.00073106"
        iyz="0.00051768"
        izz="0.0090416" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/HalfArm1_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/HalfArm1_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator2"
    type="revolute">
    <origin
      xyz="0 0.005375 -0.12838"
      rpy="1.5708 0 0" />
    <parent
      link="Shoulder_Link" />
    <child
      link="HalfArm1_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.2000"
      upper="2.2000"
      effort="39"
      velocity="0.8727" />
  </joint>
  <link
    name="HalfArm2_Link">
    <inertial>
      <origin
        xyz="2.9808E-05 -0.0062391 -0.11552"
        rpy="0 0 0" />
      <mass
        value="1.106" />
      <inertia
        ixx="0.0088707"
        ixy="2.3435E-07"
        ixz="-3.3202E-06"
        iyy="0.0090034"
        iyz="-0.00050415"
        izz="0.00071859" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/HalfArm2_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/HalfArm2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator3"
    type="continuous">
    <origin
      xyz="0 -0.21038 -0.006375"
      rpy="-1.5708 0 0" />
    <parent
      link="HalfArm1_Link" />
    <child
      link="HalfArm2_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="39"
      velocity="0.8727" />
  </joint>
  <link
    name="ForeArm_Link">
    <inertial>
      <origin
        xyz="-1.1024E-05 -0.075357 -0.014085"
        rpy="0 0 0" />
      <mass
        value="0.895" />
      <inertia
        ixx="0.0067339"
        ixy="6.9646E-07"
        ixz="-2.2424E-08"
        iyy="0.00045088"
        iyz="0.00038999"
        izz="0.0068613" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/ForeArm_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/ForeArm_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator4"
    type="revolute">
    <origin
      xyz="0 0.006375 -0.21038"
      rpy="1.5708 0 0" />
    <parent
      link="HalfArm2_Link" />
    <child
      link="ForeArm_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.5656"
      upper="2.5656"
      effort="39"
      velocity="0.8727" />
  </joint>
  <link
    name="Wrist1_Link">
    <inertial>
      <origin
        xyz="-3.2964E-07 -0.009617 -0.062968"
        rpy="0 0 0" />
      <mass
        value="0.654" />
      <inertia
        ixx="0.0013311"
        ixy="-4.5849E-10"
        ixz="-4.2678E-10"
        iyy="0.0013282"
        iyz="-0.00022936"
        izz="0.00030696" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Wrist1_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Wrist1_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator5"
    type="continuous">
    <origin
      xyz="0 -0.20843 -0.006375"
      rpy="-1.5708 0 0" />
    <parent
      link="ForeArm_Link" />
    <child
      link="Wrist1_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="9"
      velocity="0.8727" />
  </joint>
  <link
    name="Wrist2_Link">
    <inertial>
      <origin
        xyz="-3.4377E-07 -0.044043 -0.0097804"
        rpy="0 0 0" />
      <mass
        value="0.654" />
      <inertia
        ixx="0.0013422"
        ixy="4.9596E-10"
        ixz="-7.3382E-10"
        iyy="0.00031025"
        iyz="0.00023506"
        izz="0.001336" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Wrist2_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Wrist2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator6"
    type="revolute">
    <origin
      xyz="0 0.00017505 -0.10593"
      rpy="1.5708 0 0" />
    <parent
      link="Wrist1_Link" />
    <child
      link="Wrist2_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0500"
      upper="2.0500"
      effort="9"
      velocity="0.8727" />
  </joint>
  <link
    name="Bracelet_Link">
    <inertial>
      <origin
        xyz="-2.788E-05 -0.0052162 -0.022692"
        rpy="0 0 0" />
      <mass
        value="0.31408" />
      <inertia
        ixx="0.0002264"
        ixy="-4.9091E-07"
        ixz="-2.6238E-07"
        iyy="0.00015697"
        iyz="-4.5614E-05"
        izz="0.00025981" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Bracelet_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/Bracelet_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Actuator7"
    type="continuous">
    <origin
      xyz="0 -0.10593 -0.00017505"
      rpy="-1.5708 0 0" />
    <parent
      link="Wrist2_Link" />
    <child
      link="Bracelet_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      effort="9"
      velocity="0.8727" />
  </joint>
  <link
    name="EndEffector_Link">
    <inertial>
      <origin
        xyz="-0.00017492 0.014824 -0.62969"
        rpy="0 0 0" />
      <mass
        value="0" />
      <inertia
        ixx="0"
        ixy="0"
        ixz="0"
        iyy="0"
        iyz="0"
        izz="0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/EndEffector_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://JACO3_URDF_V10/meshes/EndEffector_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Endeffector"
    type="fixed">
    <origin
      xyz="0 0 -0.059525"
      rpy="3.1416 0 0" />
    <parent
      link="Bracelet_Link" />
    <child
      link="EndEffector_Link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>
