<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from crx10ia.xacro                  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="crx10ia">
  <material name="FANUC_Black">
    <color rgba="0 0 0 1.0"/>
  </material>
  <material name="FANUC_Yellow">
    <color rgba="1.00 0.84 0.01 1.00"/>
  </material>
  <material name="FANUC_Green">
    <color rgba="0.43 0.68 0.26 1.00"/>
  </material>
  <material name="FANUC_White">
    <color rgba="0.84 0.84 0.82 1.00"/>
  </material>
  <!-- links -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_Black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="J1_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.11729999999999999"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/j1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.11729999999999999"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/j1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="J2_link">
    <visual>
      <origin rpy="0 0 0" xyz="-0.0 0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/j2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0 0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/j2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="J3_link">
    <visual>
      <origin rpy="0 0 0" xyz="-0.0 0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/j3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0 0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/j3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="J4_link">
    <visual>
      <origin rpy="0 0 0" xyz="0.54 0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/j4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.54 0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/j4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="J5_link">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 -0.15 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/j5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_White"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 -0.15 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/j5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="J6_link">
    <visual>
      <origin rpy="0 0 0" xyz="0.15999999999999992 0.0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/visual/j6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="FANUC_Black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.15999999999999992 0.0 0.0"/>
      <geometry>
        <mesh filename="package://fanuc_crx_description/meshes/collision/j6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <!-- joints -->
  <joint name="J1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.245"/>
    <parent link="base_link"/>
    <child link="J1_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-3.3161255787892263" upper="3.3161255787892263" velocity="2.0943951023931953"/>
  </joint>
  <joint name="J2" type="revolute">
    <origin rpy="0 0 0" xyz="0.0 0 0"/>
    <parent link="J1_link"/>
    <child link="J2_link"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-3.139847324337799" upper="3.139847324337799" velocity="2.0943951023931953"/>
  </joint>
  <joint name="J3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.54"/>
    <parent link="J2_link"/>
    <child link="J3_link"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-1.239183768915974" upper="4.380776422505767" velocity="3.141592653589793"/>
  </joint>
  <joint name="J4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.0"/>
    <parent link="J3_link"/>
    <child link="J4_link"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-3.3161255787892263" upper="3.3161255787892263" velocity="3.141592653589793"/>
  </joint>
  <joint name="J5" type="revolute">
    <origin rpy="0 0 0" xyz="0.54 0 0"/>
    <parent link="J4_link"/>
    <child link="J5_link"/>
    <axis xyz="0 -1 0"/>
    <limit effort="0" lower="-3.139847324337799" upper="3.139847324337799" velocity="3.141592653589793"/>
  </joint>
  <joint name="J6" type="revolute">
    <origin rpy="0 0 0" xyz="0 -0.15 0"/>
    <parent link="J5_link"/>
    <child link="J6_link"/>
    <axis xyz="-1 0 0"/>
    <limit effort="0" lower="-3.9269908169872414" upper="3.9269908169872414" velocity="3.141592653589793"/>
  </joint>
  <!-- world coords -->
  <link name="wbase"/>
  <joint name="base_link-wbase" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.245"/>
    <parent link="base_link"/>
    <child link="wbase"/>
  </joint>
  <!-- flange coords -->
  <link name="flange"/>
  <joint name="J6-flange" type="fixed">
    <origin rpy="0 0 0" xyz="0.16 0 0"/>
    <parent link="J6_link"/>
    <child link="flange"/>
  </joint>
</robot>

