<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro        | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="kuka_lwr">
  <!-- right is either 1 (for right arm) or -1 (for left arm) -->
  <link name="calib_kuka_arm_base_link">
    <inertial>
      <mass value="0"/>
      <!-- static base, disable dynamics for this link -->
      <origin rpy="0 0 0" xyz="0 0 0.055"/>
      <inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/arm_base.stl"/>
      </geometry>
      <material name="Orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="kuka_arm_0_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.11"/>
    <axis xyz="0 0 1"/>
    <limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
    <dynamics damping="0.1"/>
    <parent link="calib_kuka_arm_base_link"/>
    <child link="kuka_arm_1_link"/>
  </joint>
  <link name="kuka_arm_1_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.04 0.130"/>
      <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/arm_segment_a.stl"/>
      </geometry>
      <material name="Orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_0_motor"/>
    <joint name="kuka_arm_0_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
  <joint name="kuka_arm_1_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.20"/>
    <axis xyz="0 -1 0"/>
    <!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
             effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
    <!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
    <limit effort="306" lower="-1.57079632679" upper="1.57079632679" velocity="1.91986217719"/>
    <dynamics damping="0.1"/>
    <parent link="kuka_arm_1_link"/>
    <child link="kuka_arm_2_link"/>
  </joint>
  <link name="kuka_arm_2_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 -0.04 0.07"/>
      <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
    </inertial>
    <visual>
      <origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
      <geometry>
        <mesh filename="meshes_arm/arm_segment_b.stl"/>
      </geometry>
      <material name="Orange"/>
    </visual>
    <collision>
      <origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_1_motor"/>
    <joint name="kuka_arm_1_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
  <joint name="kuka_arm_2_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.20"/>
    <axis xyz="0 0 1"/>
    <limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
    <dynamics damping="0.1"/>
    <parent link="kuka_arm_2_link"/>
    <child link="kuka_arm_3_link"/>
  </joint>
  <link name="kuka_arm_3_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
      <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/arm_segment_a.stl"/>
      </geometry>
      <material name="Orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_2_motor"/>
    <joint name="kuka_arm_2_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
  <joint name="kuka_arm_3_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.20"/>
    <axis xyz="0 1 0"/>
    <limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
    <dynamics damping="0.1"/>
    <parent link="kuka_arm_3_link"/>
    <child link="kuka_arm_4_link"/>
  </joint>
  <link name="kuka_arm_4_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.04 0.07"/>
      <inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
    </inertial>
    <visual>
      <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
      <geometry>
        <mesh filename="meshes_arm/arm_segment_b.stl"/>
      </geometry>
      <material name="Orange"/>
    </visual>
    <collision>
      <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_3_motor"/>
    <joint name="kuka_arm_3_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
  <joint name="kuka_arm_4_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.20"/>
    <axis xyz="0 0 1"/>
    <limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
    <dynamics damping="0.1"/>
    <parent link="kuka_arm_4_link"/>
    <child link="kuka_arm_5_link"/>
  </joint>
  <link name="kuka_arm_5_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0.02 0.124"/>
      <inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry name="kuka_arm_5_geom">
        <mesh filename="meshes_arm/arm_segment_last.stl"/>
      </geometry>
      <material name="Orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_4_motor"/>
    <joint name="kuka_arm_4_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
  <joint name="kuka_arm_5_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.19"/>
    <axis xyz="0 -1 0"/>
    <limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
    <dynamics damping="0.1"/>
    <parent link="kuka_arm_5_link"/>
    <child link="kuka_arm_6_link"/>
  </joint>
  <link name="kuka_arm_6_link">
    <inertial>
      <mass value="2.0"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.00520833333333" ixy="0" ixz="0" iyy="0.00520833333333" iyz="0" izz="0.00520833333333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/arm_wrist.stl"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_wrist_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_5_motor"/>
    <joint name="kuka_arm_5_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
  <joint name="kuka_arm_6_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.078"/>
    <axis xyz="0 0 1"/>
    <limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="3.14159265359"/>
    <dynamics damping="0.1"/>
    <parent link="kuka_arm_6_link"/>
    <child link="kuka_arm_7_link"/>
  </joint>
  <link name="kuka_arm_7_link">
    <inertial>
      <mass value="2.0"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.000833333333333" ixy="0" ixz="0" iyy="0.000833333333333" iyz="0" izz="0.000833333333333"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/arm_flanche.stl"/>
      </geometry>
      <material name="Grey"/>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
      </geometry>
    </collision>
  </link>
  <transmission name="kuka_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
    <actuator name="kuka_arm_6_motor"/>
    <joint name="kuka_arm_6_joint"/>
    <mechanicalReduction>1.0</mechanicalReduction>
  </transmission>
</robot>

