<?xml version="1.0" encoding="utf-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="cobot">
  <material name="gray">
    <color rgba="0.5 0.5 0.5 1.0" />
  </material>
  <material name="red">
    <color rgba="1 0 0 1.0" />
  </material>
  <material name="green">
    <color rgba="0 1 0 1.0" />
  </material>
  <material name="blue">
    <color rgba="0 0 1 1.0" />
  </material>

    <link name="base_link" />

    <joint name="robot_base" type="fixed">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <parent link="base_link"/>
      <child link="link_0"/>
      <axis xyz="0 0 0"/>
    </joint>

    <link name="link_0">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="link_0.stl"/>
        </geometry>
        <material name="red" />
      </visual>
       <inertial>
        <origin xyz="0.00116277 -0.00067132 0.02486501" rpy="0. 0. 0."/>
        <mass value="1.95807188"/>
        <inertia ixx="0.00298571"  ixy="0.00006068"  ixz="0.00000102" iyy="0.00291565" iyz="-0.00000059" izz="0.00471410" />
      </inertial>
    </link>

    <joint name="joint_0" type="revolute">
      <origin xyz="0 0 0.056" rpy="0 0 0" /> 
      <parent link="link_0" />
      <child link="link_1" />
      <axis xyz="0 0 1" />
      <limit lower="-2.9985" upper="2.9985" effort="380" velocity="1.8" />
    </joint>

    <link name="link_1">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="link_1.stl"/>
        </geometry>
        <material name="green" />
      </visual>
       <inertial>
        <origin xyz="0.00008664 -0.00930464 0.06530280" rpy="0. 0. 0"/>
        <mass value="3.6400"/>
        <inertia ixx="0.00776170"  ixy="0.00000697"  ixz="0.00002126" iyy="0.00686617" iyz="-0.00051875" izz="0.00677849" />
      </inertial>
    </link>

    <joint name="joint_1" type="revolute">
      <origin xyz="0 0 0.0799" rpy="1.570796326 0 0" />
      <parent link="link_1" />
      <child link="link_2" />
      <axis xyz="0 0 1" />
      <limit lower="-2.9985" upper="2.9985" effort="380" velocity="1.8" />
    </joint>

    <link name="link_2">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="link_2.stl"/>
        </geometry>
        <material name="blue" />
      </visual>
       <inertial>
        <origin xyz="0.3470 0 0.13156082" rpy="0. 0. 0"/>
        <mass value="8.99097817"/>
        <inertia ixx="0.01677905"  ixy="-0.00022694"  ixz="0." iyy="0.91757396" iyz="0." izz="0.91531243" />
      </inertial>
    </link>

    <joint name="joint_2" type="revolute">
      <origin xyz="0.694 0 0" rpy="0 0 0" />
      <parent link="link_2" />
      <child link="link_3" />
      <axis xyz="0 0 1" />
      <limit lower="-2.9985" upper="2.9985" effort="380" velocity="1.8" />
    </joint>

    <link name="link_3">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="link_3.stl"/>
        </geometry>
        <material name="red" />
      </visual>
       <inertial>
        <origin xyz="0.31789419 0.00005890 0.00937132" rpy="0 0 0"/>
        <mass value="5.99108445"/>
        <inertia ixx="0.01061457"  ixy="0.00009287"  ixz="0.00234388" iyy="0.53166781" iyz="-0.00002302" izz="0.53173199" />
      </inertial>
    </link>

    <joint name="joint_3" type="revolute">
      <origin xyz="0.675 0 0.1155" rpy="0 0 0" />
      <parent link="link_3" />
      <child link="link_4" />
      <axis xyz="0 0 1" />
      <limit lower="-2.9985" upper="2.9985" effort="180" velocity="1.8" />
    </joint>
    
    <link name="link_4">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="link_4.stl"/>
        </geometry>
        <material name="green" />
      </visual>
       <inertial>
        <origin xyz="-0.00014989 -0.01506409 -0.00465166" rpy="0. 0. 0"/>
        <mass value="1.98526415"/>
        <inertia ixx="0.00280646"  ixy="-0.00002319"  ixz="-0.00000566" iyy="0.00249843" iyz="-0.00015632" izz="0.00263503" />
      </inertial>
    </link>

    <joint name="joint_4" type="revolute">
      <origin xyz="0 -0.1155 0" rpy="1.570796326 0 0" />
      <parent link="link_4" />
      <child link="link_5" />
      <axis xyz="0 0 1" />
      <limit lower="-2.9985" upper="2.9985" effort="180" velocity="1.8" />
    </joint>

    <link name="link_5">
      <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry>
          <mesh filename="link_5.stl"/>
        </geometry>
        <material name="blue" />
      </visual>
       <inertial>
        <origin xyz="0.00014989 0.01506409 -0.00465166" rpy="0. 0. 0"/>
        <mass value="1.98526415"/>
        <inertia ixx="0.00280646"  ixy="-0.00002319"  ixz="0.00000566" iyy="0.00249843" iyz="0.00015632" izz="0.00263503" />
      </inertial>
    </link>

    <joint name="joint_5" type="revolute">
      <origin xyz="0 0.0675 0" rpy="-1.570796326 0 0" />
      <parent link="link_5" />
      <child link="link_6" />
      <axis xyz="0 0 1" />
      <limit lower="-2.9985" upper="2.9985" effort="180" velocity="1.8" />
    </joint>

	<link name="link_6">
       <inertial>
        <origin xyz="0 0 0" rpy="0. 0. 0"/>
        <mass value="0.000001"/>
        <inertia ixx="0.000001"  ixy="0"  ixz="0" iyy="0.000001" iyz="0." izz="0.000001" />
      </inertial>
    </link>
</robot>
