<? xml version="1.0" ? >
<!--  =================================================================================== -->
<!--  |    This document was autogenerated by xacro from irb2400.xacro                  | -->
<!--  |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!--  =================================================================================== -->
<robot name="abb_irb140" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/base_link.stl"/>
      </geometry>
      <material name="abb_orange">
        <color rgba="1 0.43 0 1"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/base_link.stl"/>
      </geometry>
      <material name="yellow">
        <color rgba="0 1 1 1"/>
      </material>
    </collision>
  </link>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_1.stl"/>
      </geometry>
      <material name="abb_orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_1.stl"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <link name="link_2">
    <visual>
      <origin rpy="0 0 0" xyz="-0.28 0 -1.38"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_2.stl"/>
      </geometry>
      <material name="abb_orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.28 0 -1.38"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_2.stl"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <link name="link_3">
    <visual>
      <origin rpy="0 0 0" xyz="-0.28 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_3.stl"/>
      </geometry>
      <material name="abb_orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.28 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_3.stl"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <link name="link_4">
    <visual>
      <origin rpy="0 0 0" xyz="-0.28 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_4.stl"/>
      </geometry>
      <material name="abb_orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.28 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_4.stl"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <link name="link_5">
    <visual>
      <origin rpy="0 0 0" xyz="-1.77 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_5.stl"/>
      </geometry>
      <material name="abb_orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-1.77 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_5.stl"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <link name="link_6">
    <visual>
      <origin rpy="0 0 0" xyz="-1.77 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/visual/link_6.stl"/>
      </geometry>
      <material name="abb_orange"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-1.77 0 -2.8"/>
      <geometry>
        <mesh filename="package://abb_irb140_support/meshes/irb140/collision/link_6.stl"/>
      </geometry>
      <material name="yellow"/>
    </collision>
  </link>
  <link name="tool0"/>
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-3.1416" upper="3.1416" velocity="2.618"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0.28 0 1.38"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-1.7453" upper="1.9199" velocity="2.618"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 1.42"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-1.0472" upper="1.1345" velocity="2.618"/>
  </joint>
  <joint name="joint_4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="1 0 0"/>
    <limit effort="0" lower="-3.49" upper="3.49" velocity="6.2832"/>
  </joint>
  <joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="1.49 0 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-2.0944" upper="2.0944" velocity="6.2832"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.02"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="1 0 0"/>
    <limit effort="0" lower="-6.9813" upper="6.9813" velocity="7.854"/>
  </joint>
  <joint name="joint_6-tool0" type="fixed">
    <parent link="link_6"/>
    <child link="tool0"/>
    <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
  </joint>
  <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>

