<?xml version="1.0" ?>
<robot name="motoman_ar2010">

  <link name="base_link">
    <visual>
      <geometry><mesh filename="ar2010_meshes/base_link.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <link name="link_1_s">
    <visual>
      <geometry><mesh filename="ar2010_meshes/link_1_s.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <link name="link_2_l">
    <visual>
      <geometry><mesh filename="ar2010_meshes/link_2_l.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <link name="link_3_u">
    <visual>
      <geometry><mesh filename="ar2010_meshes/link_3_u.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <link name="link_4_r">
    <visual>
      <geometry><mesh filename="ar2010_meshes/link_4_r.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <link name="link_5_b">
    <visual>
      <geometry><mesh filename="ar2010_meshes/link_5_b.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <link name="link_6_t">
    <visual>
      <geometry><mesh filename="ar2010_meshes/link_6_t.stl"/></geometry>
      <material name="blue"><color rgba="0.2 0.4 0.8 1"/></material>
    </visual>
  </link>

  <!-- Joints — all rotate about local +Z axis (URDF standard) -->
  <joint name="joint_1_s" type="revolute">
    <parent link="base_link"/>
    <child link="link_1_s"/>
    <origin xyz="0 0 0.505" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="3087" velocity="3.66519"/>
  </joint>

  <joint name="joint_2_l" type="revolute">
    <parent link="link_1_s"/>
    <child link="link_2_l"/>
    <origin xyz="0.150 0 0" rpy="1.5708 -1.5708 -3.14159"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.8326" upper="2.7053" effort="3087" velocity="3.66519"/>
  </joint>

  <joint name="joint_3_u" type="revolute">
    <parent link="link_2_l"/>
    <child link="link_3_u"/>
    <origin xyz="0.760 0 0" rpy="3.14159 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.5010" upper="2.7925" effort="926.1" velocity="3.8397"/>
  </joint>

  <joint name="joint_4_r" type="revolute">
    <parent link="link_3_u"/>
    <child link="link_4_r"/>
    <origin xyz="0.200 -1.082 0" rpy="-1.5708 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.6180" upper="2.6180" effort="78.4" velocity="7.5922"/>
  </joint>

  <joint name="joint_5_b" type="revolute">
    <parent link="link_4_r"/>
    <child link="link_5_b"/>
    <origin xyz="0 0 0" rpy="1.5708 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.3562" upper="1.5708" effort="67.03" velocity="7.5922"/>
  </joint>

  <joint name="joint_6_t" type="revolute">
    <parent link="link_5_b"/>
    <child link="link_6_t"/>
    <origin xyz="0 -0.100 0" rpy="-1.5708 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.6652" upper="3.6652" effort="33.3" velocity="12.2173"/>
  </joint>

</robot>
