<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from wam_standalone.urdf.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="wam" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="world"/>
  <joint name="/j0" type="fixed">
    <parent link="world"/>
    <child link="/wam_base"/>
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="/wam_base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam_base.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.21556578 0.26189039 0.34533511"/>
      <mass value="9.97059584"/>
      <inertia ixx="0.10916849" ixy="0.00640270" ixz="0.02557874" iyx="0.00000000" iyy="0.18294303" iyz="0.00161433" izx="0.00000000" izy="0.00000000" izz="0.11760385"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam_base_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="/wam1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam1.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="-1.570796 0 0" xyz="-0.004434 -0.000665 -0.121890"/>
      <mass value="10.76768767"/>
      <inertia ixx="0.13488033" ixy="-0.00213041" ixz="-0.00012485" iyx="0.00000000" iyy="0.11328369" iyz="0.00068555" izx="0.00000000" izy="0.00000000" izz="0.09046330"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam1_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j1" type="revolute">
    <origin rpy="-1.1127E-16 0 0" xyz="0.22 0.14 0.346"/>
    <parent link="/wam_base"/>
    <child link="/wam1"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.8" lower="-2.6" upper="2.6" velocity="0.75"/>
  </joint>
  <link name="/wam2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam2.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="1.570796 0 0" xyz="-0.002370 -0.015421 0.031056"/>
      <mass value="3.87493756"/>
      <inertia ixx="0.02140958" ixy="0.00027172" ixz="0.00002461" iyx="0.00000000" iyy="0.01377875" iyz="-0.00181920" izx="0.00000000" izy="0.00000000" izz="0.01558906"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam2_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j2" type="revolute">
    <origin rpy="-1.5708 -4.0281E-16 -3.9443E-31" xyz="0 0 0"/>
    <parent link="/wam1"/>
    <child link="/wam2"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.8" lower="-2.00" upper="2.00" velocity="0.75"/>
  </joint>
  <link name="/wam3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam3.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="-1.570796 0 0" xyz="0.006741 0.000033 0.342492"/>
      <mass value="1.80228141"/>
      <inertia ixx="0.05911077" ixy="-0.00249612" ixz="0.00000738" iyx="0.00000000" iyy="0.00324550" iyz="-0.00001767" izx="0.00000000" izy="0.00000000" izz="0.05927043"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam3_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j3" type="revolute">
    <origin rpy="1.5708 -3.9443E-31 4.0281E-16" xyz="0 0 0"/>
    <parent link="/wam2"/>
    <child link="/wam3"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.8" lower="-2.80" upper="2.80" velocity="2.0"/>
  </joint>
  <link name="/wam4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam4.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="1.570796 0 0" xyz="-0.040015 -0.132717 -0.000229"/>
      <mass value="2.40016804"/>
      <inertia ixx="0.01491672" ixy="0.00001741" ixz="-0.00150604" iyx="0.00000000" iyy="0.01482922" iyz="-0.00002109" izx="0.00000000" izy="0.00000000" izz="0.00294463"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam4_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j4" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0.045 0 0.55"/>
    <parent link="/wam3"/>
    <child link="/wam4"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.6" lower="-0.90" upper="3.10" velocity="2.0"/>
  </joint>
  <link name="/wam5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam5.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="-1.570796 0 0" xyz="0.000089 0.004358 0.294888"/>
      <mass value="0.12376019"/>
      <inertia ixx="0.00005029" ixy="0.00000020" ixz="-0.00000005" iyx="0.00000000" iyy="0.00007582" iyz="-0.00000359" izx="0.00000000" izy="0.00000000" izz="0.00006270"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam5_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j5" type="revolute">
    <origin rpy="1.5708 0 0" xyz="-0.045 0 0"/>
    <parent link="/wam4"/>
    <child link="/wam5"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.6" lower="-4.76" upper="1.24" velocity="2.5"/>
  </joint>
  <link name="/wam6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam6.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="1.570796 0 0" xyz="-0.000123 -0.024683 -0.017032"/>
      <mass value="0.41797364"/>
      <inertia ixx="0.00055516" ixy="0.00000061" ixz="-0.00000074" iyx="0.00000000" iyy="0.00024367" iyz="-0.00004590" izx="0.00000000" izy="0.00000000" izz="0.00045358"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam6_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j6" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0 0 0.3"/>
    <parent link="/wam5"/>
    <child link="/wam6"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.6" lower="-1.60" upper="1.60" velocity="2.5"/>
  </joint>
  <link name="/wam7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam7.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000080 0.000163 0.056764"/>
      <mass value="0.06864753"/>
      <inertia ixx="0.00003773" ixy="-0.00000019" ixz="0.00000000" iyx="0.00000000" iyy="0.00003806" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00007408"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam7_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j7" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
    <parent link="/wam6"/>
    <child link="/wam7"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.174" lower="-3.00" upper="3.00" velocity="2.5"/>
  </joint>
</robot>
