<?xml version="1.0" ?>
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<!-- |    This document was autogenerated by xacro from /home/ubuntu/devel/hpp/install/share/hpp-coverage/urdf/syabot.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="staubli_tx2_90">
  <!-- colours based on RAL values supplied by Staubli -->
  <!-- all RAL colours converted using http://www.visual-graphics.de/en/customer-care/ral-colours -->
  <!-- default colours for robots -->
  <!-- links: main serial chain -->
  <link name="base_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/visual/base_link.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/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://hpp_tutorial/meshes/staubli-tx2-90/visual/link_1.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/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://hpp_tutorial/meshes/staubli-tx2-90/visual/link_2.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/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://hpp_tutorial/meshes/staubli-tx2-90/visual/link_3.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/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://hpp_tutorial/meshes/staubli-tx2-90/visual/link_4.stl"/>
      </geometry>
      <material name="">
        <color rgba="1.0 0.6078431372549019 0.0 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/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://hpp_tutorial/meshes/staubli-tx2-90/visual/link_5.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.5294117647058824 0.5215686274509804 0.5058823529411764 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/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://hpp_tutorial/meshes/staubli-tx2-90/visual/link_6.stl"/>
      </geometry>
      <material name="">
        <color rgba="0.5294117647058824 0.5215686274509804 0.5058823529411764 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/staubli-tx2-90/collision/link_6.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- joints: main serial chain -->
  <joint name="joint_1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.478"/>
    <parent link="base_link"/>
    <child link="link_1"/>
    <axis xyz="0 0 1"/>
    <!-- from Staubli instruction manual:
      (1) effort limit = 318 Nm if floor mounted
      (2) effort limit = 111 Nm if wall mounted -->
    <!-- nominal velocity limits are used -->
    <limit effort="318.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="4.625122517784973"/>
  </joint>
  <joint name="joint_2" type="revolute">
    <origin rpy="0 0 0" xyz="0.050 0 0"/>
    <parent link="link_1"/>
    <child link="link_2"/>
    <axis xyz="0 1 0"/>
    <!-- nominal velocity limits are used -->
    <limit effort="166.0" lower="-2.2689280275926285" upper="2.5743606466916362" velocity="3.6651914291880923"/>
  </joint>
  <joint name="joint_3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0.05 0.425"/>
    <parent link="link_2"/>
    <child link="link_3"/>
    <axis xyz="0 1 0"/>
    <!-- nominal velocity limits are used -->
    <limit effort="76.0" lower="-2.530727415391778" upper="2.530727415391778" velocity="5.497787143782138"/>
  </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="0 0 1"/>
    <!-- nominal velocity limits are used -->
    <limit effort="34.0" lower="-4.71238898038469" upper="4.71238898038469" velocity="7.853981633974483"/>
  </joint>
  <joint name="joint_5" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.425"/>
    <parent link="link_4"/>
    <child link="link_5"/>
    <axis xyz="0 1 0"/>
    <!-- nominal velocity limits are used -->
    <limit effort="29.0" lower="-2.007128639793479" upper="2.443460952792061" velocity="6.457718232379019"/>
  </joint>
  <joint name="joint_6" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.100"/>
    <parent link="link_5"/>
    <child link="link_6"/>
    <axis xyz="0 0 1"/>
    <!-- nominal velocity limits are used -->
    <limit effort="11.0" lower="-4.71238898038469" upper="4.71238898038469" velocity="10.995574287564276"/>
  </joint>
  <!-- ROS-Industrial 'base' frame: base_link to Staubli World Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.478"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="flange"/>
  <joint name="joint_6-flange" type="fixed">
    <origin rpy="0 -1.5707963267948966 0" xyz="0 0 0"/>
    <parent link="link_6"/>
    <child link="flange"/>
  </joint>
  <!-- Drill_Link -->
  <link name="drill_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/drill.stl"/>
      </geometry>
      <material name="Red">
        <color rgba="0.9 0.1 0.1 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://hpp_tutorial/meshes/drill.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="tool_link">
    <visual>
      <geometry>
        <cylinder length="0.074" radius="0.005"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <geometry name="drill">
        <cylinder length="0.074" radius="0.005"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.001"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
    <collision_checking>
      <!--- This tells to pinocchio to replace the cylinder called "drill" by
             a capsule with the same radius and length -->
      <capsule name="drill"/>
    </collision_checking>
  </link>
  <joint name="drill_joint" type="fixed">
    <origin rpy="0 1.5707963267948966 0" xyz="0.158 0 0.074"/>
    <parent link="drill_link"/>
    <child link="tool_link"/>
  </joint>
  <joint name="tool_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.07 0 0"/>
    <parent link="flange"/>
    <child link="drill_link"/>
  </joint>
  <link name="root"/>
  <joint name="root_joint" type="fixed">
    <parent link="root"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
</robot>
