<?xml version="1.0" encoding="utf-8"?>
<robot name="rasms" xmlns:xacro="http://www.ros.org/wiki/xacro">


  <xacro:include filename="$(find rasms_description)/urdf/rasms.gazebo.xacro"/>
  <xacro:include filename="$(find rasms_description)/urdf/rasms.control.xacro"/>
  <link name="world"/>
  <joint name="to_world" type="fixed">
    <parent link="world"/>
    <child link="base"/>
    <origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0"/>
  </joint>
  <link
    name="base">
    <inertial>
      <origin
        xyz="-0.00033212 0.00010743 -0.036421"
        rpy="0 0 0" />
      <mass
        value="1.3101" />
      <inertia
        ixx="0.0025958"
        ixy="9.7863E-07"
        ixz="-1.4731E-05"
        iyy="0.0023883"
        iyz="5.8191E-07"
        izz="0.0043068" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/base.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/base.stl" />
      </geometry>
    </collision>
  </link>
  <link
    name="link1">
    <inertial>
      <origin
        xyz="0.080526 -0.028752 -0.00018483"
        rpy="0 0 0" />
      <mass
        value="0.52648" />
      <inertia
        ixx="0.00038929"
        ixy="3.5255E-05"
        ixz="2.2864E-07"
        iyy="0.00076496"
        iyz="6.2982E-08"
        izz="0.00075521" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link1.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link1.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 -1.5708 0" />
    <parent
      link="base" />
    <child
      link="link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link2">
    <inertial>
      <origin
        xyz="0.025632 0.0098422 6.3301E-05"
        rpy="0 0 0" />
      <mass
        value="0.46645" />
      <inertia
        ixx="0.00030236"
        ixy="6.3961E-06"
        ixz="4.0548E-08"
        iyy="0.00025015"
        iyz="-9.5727E-08"
        izz="0.00026486" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link2.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link2.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0.14172 0 0"
      rpy="0 0 0" />
    <parent
      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link3">
    <inertial>
      <origin
        xyz="0.069442 -0.021508 -0.00029297"
        rpy="0 0 0" />
      <mass
        value="0.70817" />
      <inertia
        ixx="0.00048214"
        ixy="3.6229E-05"
        ixz="4.9555E-07"
        iyy="0.00086485"
        iyz="6.0984E-08"
        izz="0.0008604" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link3.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link3.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint3"
    type="revolute">
    <origin
      xyz="0.081346 0 0"
      rpy="0 0 0" />
    <parent
      link="link2" />
    <child
      link="link3" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link4">
    <inertial>
      <origin
        xyz="0.025632 0.0098415 0.0001341"
        rpy="0 0 0" />
      <mass
        value="0.46645" />
      <inertia
        ixx="0.00030236"
        ixy="6.3957E-06"
        ixz="8.6559E-08"
        iyy="0.00025015"
        iyz="-2.0152E-07"
        izz="0.00026486" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link4.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link4.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint4"
    type="revolute">
    <origin
      xyz="0.14438 0 0"
      rpy="0 0 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link5">
    <inertial>
      <origin
        xyz="0.069442 -0.021508 -0.00029297"
        rpy="0 0 0" />
      <mass
        value="0.70817" />
      <inertia
        ixx="0.00048214"
        ixy="3.6229E-05"
        ixz="4.9555E-07"
        iyy="0.00086485"
        iyz="6.0984E-08"
        izz="0.0008604" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link5.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link5.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0.081346 0 0"
      rpy="0 0 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="0.033705 0.010795 0.00015348"
        rpy="0 0 0" />
      <mass
        value="0.59936" />
      <inertia
        ixx="0.00035851"
        ixy="5.7985E-06"
        ixz="7.8497E-08"
        iyy="0.00028631"
        iyz="-1.8291E-07"
        izz="0.00029514" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link6.stl" />
      </geometry>
      <material
        name="rasms_color">
        <color
          rgba="0.79216 0.81961 0.93333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://rasms_description/meshes/link6.stl" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0.14438 0 0"
      rpy="0 0 0" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="0"
      velocity="0" />
  </joint>
  <link name="tool0"/>
  <joint name="to_tool0" type="fixed">
    <parent link="link6"/>
    <child link="tool0"/>
    <origin xyz="0.101 0 0" rpy="0 1.5708 0"/>
  </joint>
  <xacro:rasms_hi/>
  <xacro:rasms_gazebo/>
</robot>