<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from irb120.xacro                   | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="abb_irb120_3_58" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
       unless otherwise stated. -->
  <!-- Actual colors -->
  <!-- NCS 2070-Y60R orange, standard robot color 1974 - May 2014 -->
  <!-- RAL 7035 light grey (abb graphite white), standard robot color May 2014 - current -->
  <!-- RAL 9003 signal white (abb white), cleanroom robot color -->
  <!-- RAL 7032 pebble gray, controller -->
  <!-- RAL 7012 basalt gray (abb dark gray) , robot primer -->
  <!-- RAL 7021 black gray (abb black) , robot with dark link color -->
  <!-- Other robot colours availble, but not limited too. -->
  <!-- RAL 3001 signal red -->
  <!-- RAL 3002 carmine red -->
  <!-- RAL 5002 ultramarine blue -->
  <!-- RAL 5015 sky blue -->
  <!-- RAL 6002 leaf green -->
  <!-- RAL 9002 gray white -->
  <!-- RAL 9010 pure white -->
  <!-- approximations -->
  <!-- yellow, collision model -->
  <!-- link list -->
  <link name="base_link">
    <inertial>
      <mass value="6.215"/>
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964"/>
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="link_1">
    <inertial>
      <mass value="3.067"/>
      <origin rpy="0 0 0" xyz="9.77E-05 -0.00012 0.23841"/>
      <inertia ixx="0.0142175" ixy="-1.28579E-05" ixz="-2.31364E-05" iyy="0.0144041" iyz="1.93404E-05" izz="0.0104533"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_1.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_1.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="link_2">
    <inertial>
      <mass value="3.909"/>
      <origin rpy="0 0 0" xyz="0.00078 -0.00212 0.10124"/>
      <inertia ixx="0.0603111" ixy="9.83431E-06" ixz="5.72407E-05" iyy="0.041569" iyz="-0.00050497" izz="0.0259548"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_2.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_2.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="link_3">
    <inertial>
      <mass value="2.944"/>
      <origin rpy="0 0 0" xyz="0.02281 0.00106 0.05791"/>
      <inertia ixx="0.00835606" ixy="-8.01545E-05" ixz="0.00142884" iyy="0.016713" iyz="-0.000182227" izz="0.0126984"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_3.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_3.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="link_4">
    <inertial>
      <mass value="1.328"/>
      <origin rpy="0 0 0" xyz="0.2247 0.00015 0.00041"/>
      <inertia ixx="0.00284661" ixy="-2.12765E-05" ixz="-1.6435E-05" iyy="0.00401346" iyz="1.31336E-05" izz="0.0052535"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_4.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_4.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="link_5">
    <inertial>
      <mass value="0.546"/>
      <origin rpy="0 0 0" xyz="-0.00109 3.68E-05 6.22E-05"/>
      <inertia ixx="0.000404891" ixy="1.61943E-06" ixz="8.46805E-07" iyy="0.000892825" iyz="-1.51792E-08" izz="0.000815468"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_5.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_5.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="link_6">
    <inertial>
      <mass value="0.137"/>
      <origin rpy="0 0 0" xyz="-0.00706 -0.00017 -1.32E-06"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_6.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.1882353 0.1960784 0.2039216 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_6.stl"/>
      </geometry>
      <material name="">
        <color rgba="1 1 0 1"/>
      </material>
    </collision>
  </link>
  <link name="tool0"/>
  <!-- end of link list -->
  <!-- joint list -->
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <limit effort="0" lower="-2.87979" upper="2.87979" velocity="4.36332"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.29"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <limit effort="0" lower="-1.91986" upper="1.91986" velocity="4.36332"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.27"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <limit effort="0" lower="-1.91986" upper="1.22173" velocity="4.36332"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.07"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <limit effort="0" lower="-2.79253" upper="2.79253" velocity="5.58505"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="0.302 0 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <limit effort="0" lower="-2.094395" upper="2.094395" velocity="5.58505"/>
    <axis xyz="0 1 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0.072 0 0"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <limit effort="0" lower="-6.98132" upper="6.98132" velocity="7.33038"/>
    <axis xyz="1 0 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <joint name="joint6-tool0" type="fixed">
    <parent link="link_6"/>
    <child link="tool0"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!-- end of joint list -->
  <!-- ROS base_link to ABB World Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
</robot>

