<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from kr6r900sixx.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="kuka_kr6r900sixx">
  <!-- colours based on RAL values given in "FAQ - Colours of robot and robot
       controller", version "KUKA.Tifs | 2010-01-21 |YM| DefaultColorsRobotAndController.doc",
       downloaded 2015-07-18 from
       http://www.kuka.be/main/cservice/faqs/hardware/DefaultColorsRobotAndController.pdf

       all RAL colours converted using http://www.visual-graphics.de/en/customer-care/ral-colours
  -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/base_link.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.505882352941 0.470588235294 0.388235294118 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_1.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.964705882353 0.470588235294 0.156862745098 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_1.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/visual/link_2.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.964705882353 0.470588235294 0.156862745098 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/collision/link_2.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_3.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.964705882353 0.470588235294 0.156862745098 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_3.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/visual/link_4.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.964705882353 0.470588235294 0.156862745098 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6r900sixx/collision/link_4.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_5.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.964705882353 0.470588235294 0.156862745098 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_5.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="link_6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/visual/link_6.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.505882352941 0.470588235294 0.388235294118 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://kuka_kr6_support/meshes/kr6_agilus/collision/link_6.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
  <link name="tool0"/>
  <joint name="joint_a1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.400"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0" lower="-2.96705972839" upper="2.96705972839" velocity="6.28318530718"/>
  </joint>
  <joint name="joint_a2" type="revolute">
    <origin rpy="0 0 0" xyz="0.025 0 0"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-3.31612557879" upper="0.785398163397" velocity="5.23598775598"/>
  </joint>
  <joint name="joint_a3" type="revolute">
    <origin rpy="0 0 0" xyz="0.455 0 0"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-2.09439510239" upper="2.72271363311" velocity="6.28318530718"/>
  </joint>
  <joint name="joint_a4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.035"/>
    <parent link="link_3"/>
    <child link="link_4"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-3.22885911619" upper="3.22885911619" velocity="6.6497044501"/>
  </joint>
  <joint name="joint_a5" type="revolute">
    <origin rpy="0 0 0" xyz="0.420 0 0"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-2.09439510239" upper="2.09439510239" velocity="6.77187749774"/>
  </joint>
  <joint name="joint_a6" type="revolute">
    <origin rpy="0 0 0" xyz="0.080 0 0"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-6.10865238198" upper="6.10865238198" velocity="10.7337748998"/>
  </joint>
  <joint name="joint_a6-tool0" type="fixed">
    <parent link="link_6"/>
    <child link="tool0"/>
    <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
  </joint>
  <!-- ROS base_link to KUKA $ROBROOT coordinate system 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>
