<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 4da42662407e3052 -->
<robot name="UF_ROBOT">
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <material name="Silver">
    <color rgba="0.753 0.753 0.753 1.0" />
  </material>
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="link_base" />
  </joint>
  <link name="link_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link_base.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link_base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.09103" rpy="0.0 0.0 0.0" />
      <mass value="2.7" />
      <inertia ixx="0.00494875" ixy="-3.5e-06" ixz="1.25e-05" iyy="0.00494174" iyz="1.67e-06" izz="0.002219" />
    </inertial>
  </link>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00022 0.02951 -0.0124" rpy="0.0 0.0 0.0" />
      <mass value="2.3814" />
      <inertia ixx="0.0058562" ixy="-1.79e-05" ixz="3.55e-06" iyy="0.0050316" iyz="-0.000888336" izz="0.003536652" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="0.0 0.0 0.267" rpy="0.0 0.0 0.0" />
    <parent link="link_base" />
    <child link="link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="50.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03881 -0.22783 0.03496" rpy="0.0 0.0 0.0" />
      <mass value="2.2675" />
      <inertia ixx="0.028315776" ixy="0.005" ixz="0.00066546" iyy="0.0058" iyz="-0.0045741" izz="0.0273447" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="50.0" velocity="3.14" lower="-2.059" upper="2.0944" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.07041 0.11631 0.0107" rpy="0.0 0.0 0.0" />
      <mass value="1.875" />
      <inertia ixx="0.0063483" ixy="-0.0015397" ixz="0.00096858" iyy="0.00379758" iyz="0.00186567" izz="0.00595768" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="0.0535 -0.2845 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="32.0" velocity="3.14" lower="-3.927" upper="0.19198" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00018 0.01798 -0.02291" rpy="0.0 0.0 0.0" />
      <mass value="1.3192" />
      <inertia ixx="0.004896" ixy="-6.925e-06" ixz="-1.418e-05" iyy="0.00445694" iyz="-0.00023186" izz="0.00134332" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.0775 0.3425 0.0" rpy="-1.5708 0.0 0.0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="32.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl" />
      </geometry>
      <material name="White" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0651 0.03096 0.00315" rpy="0.0 0.0 0.0" />
      <mass value="1.33854" />
      <inertia ixx="0.00146378" ixy="-0.000450624" ixz="0.000284306" iyy="0.00184192" iyz="0.000130866" izz="0.002333524" />
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="32.0" velocity="3.14" lower="-1.69297" upper="3.141592653589793" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl" />
      </geometry>
      <material name="Silver" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://xarm_description/meshes/end_tool/collision/end_tool.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.00677 -0.01098" rpy="0.0 0.0 0.0" />
      <mass value="0.17" />
      <inertia ixx="9.3e-05" ixy="-0.0" ixz="-0.0" iyy="5.87e-05" iyz="-3.6e-06" izz="0.000132" />
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <origin xyz="0.076 0.097 0.0" rpy="-1.5708 0.0 0.0" />
    <parent link="link5" />
    <child link="link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="3.14" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="1.0" friction="1.0" />
  </joint>
  <link name="link_eef" />
  <joint name="joint_eef" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link6" />
    <child link="link_eef" />
  </joint>
</robot>
