<?xml version="1.0" encoding="UTF-8"?>
<robot name="z1">
  <joint name="joint1" type="revolute">
    <origin xyz="0. 0. 0.0585" rpy="0. -1.5707964 0. "/>
    <parent link="link00"/>
    <child link="link01"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.6179936" upper="2.6179936" effort="30." velocity="3.1415"/>
  </joint>
  <joint name="joint2" type="revolute">
    <origin xyz="0.045 0. 0. " rpy="1.5707964 0. 1.5707964"/>
    <parent link="link01"/>
    <child link="link02"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="0." upper="2.9670595" effort="60." velocity="3.1415"/>
  </joint>
  <joint name="joint3" type="revolute">
    <origin xyz="0. 0.35 0. " rpy="0. 0. 0."/>
    <parent link="link02"/>
    <child link="link03"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.879793" upper="0." effort="30." velocity="3.1415"/>
  </joint>
  <joint name="joint4" type="revolute">
    <origin xyz="0. -0.218 0.057" rpy="0. 0. 0."/>
    <parent link="link03"/>
    <child link="link04"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-1.5184363" upper="1.5184363" effort="30." velocity="3.1415"/>
  </joint>
  <joint name="joint5" type="revolute">
    <origin xyz="0. -0.07 0. " rpy="-1.5707964 -1.5707964 0. "/>
    <parent link="link04"/>
    <child link="link05"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-1.3439035" upper="1.3439035" effort="30." velocity="3.1415"/>
  </joint>
  <joint name="joint6" type="revolute">
    <origin xyz="0. 0. -0.0492" rpy="0. 1.5707964 0. "/>
    <parent link="link05"/>
    <child link="link06"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.7925265" upper="2.7925265" effort="30." velocity="3.1415"/>
  </joint>
  <joint name="root_joint" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="z1_description"/>
    <child link="link00"/>
  </joint>
  <link name="link00">
    <inertial>
      <origin xyz="-0.0033498 -0.0001362 0.0249584" rpy="0. 0. 0."/>
      <mass value="0.4724748"/>
      <inertia ixx="0.0003794" ixy="-0.0000004" ixz="-0.0000104" iyy="0.0004152" iyz="-0.000001" izz="0.0005307"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/link00_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0.0255" rpy="0. 0. 0."/>
      <geometry>
        <cylinder radius="0.0325" length="0.051"/>
      </geometry>
    </collision>
  </link>
  <link name="link01">
    <inertial>
      <origin xyz="0.0000025 -0.000252 0.0231717" rpy="0. 0. 0."/>
      <mass value="0.6733255"/>
      <inertia ixx="0.0012833" ixy="-0.0000001" ixz="-0.0000004" iyy="0.0007193" iyz="0.0000005" izz="0.0008394"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/link01_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
  </link>
  <link name="link02">
    <inertial>
      <origin xyz="-0.110126 0.0024003 0.0015827" rpy="0. 0. 0."/>
      <mass value="1.1913226"/>
      <inertia ixx="0.0010214" ixy="0.0006236" ixz="0.0000051" iyy="0.0242946" iyz="-0.0000021" izz="0.0246611"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. -1.5707964"/>
      <geometry>
        <mesh filename="meshes/link02_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="1.5707964 0. -1.5707964"/>
      <geometry>
        <cylinder radius="0.0325" length="0.102"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0. 0.1625 0. " rpy="1.5707964 1.5707963 0. "/>
      <geometry>
        <cylinder radius="0.0225" length="0.235"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0. 0.35 0. " rpy="1.5707964 0. -1.5707964"/>
      <geometry>
        <cylinder radius="0.0325" length="0.051"/>
      </geometry>
    </collision>
  </link>
  <link name="link03">
    <inertial>
      <origin xyz="0.1060921 -0.0054182 0.0347638" rpy="0. 0. 0."/>
      <mass value="0.8394088"/>
      <inertia ixx="0.0010806" ixy="-0.0000867" ixz="-0.002081" iyy="0.0095424" iyz="-0.0000133" izz="0.0088662"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. -1.5707964"/>
      <geometry>
        <mesh filename="meshes/link03_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. -0.128 0.055" rpy="1.5707964 1.5707963 0. "/>
      <geometry>
        <cylinder radius="0.02" length="0.116"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0. -0.2205 0.055 " rpy="-0. 1.5707963 0. "/>
      <geometry>
        <cylinder radius="0.0325" length="0.059"/>
      </geometry>
    </collision>
  </link>
  <link name="link04">
    <inertial>
      <origin xyz="0.0436668 0.0036474 -0.0017019" rpy="0. 0. 0."/>
      <mass value="0.5640456"/>
      <inertia ixx="0.0003158" ixy="0.0000813" ixz="0.0000409" iyy="0.00093" iyz="-0.000006" izz="0.0009791"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. -1.5707964"/>
      <geometry>
        <mesh filename="meshes/link04_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
  </link>
  <link name="link05">
    <inertial>
      <origin xyz="0.0312153 0. 0.0064632" rpy="0. 0. 0."/>
      <mass value="0.3893849"/>
      <inertia ixx="0.0001761" ixy="0.0000004" ixz="0.0000569" iyy="0.000559" iyz="-0.0000001" izz="0.0005386"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/link05_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
  </link>
  <link name="link06">
    <inertial>
      <origin xyz="0.0241569 -0.0001735 -0.0014388" rpy="0. 0. 0."/>
      <mass value="0.2887581"/>
      <inertia ixx="0.0001833" ixy="0.0000012" ixz="0.0000005" iyy="0.0001475" iyz="0.0000001" izz="0.0001468"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/link06_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0255 0. 0. " rpy="0. 1.5707963 0. "/>
      <geometry>
        <cylinder radius="0.0325" length="0.051"/>
      </geometry>
    </collision>
  </link>
  <link name="z1_description"/>
</robot>
