<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from xarm6_robot.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="xarm6_link4">
  <!--
  Author: Jason Peng <jason@ufactory.cc>
  Contributers:
-->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/xarm</robotNamespace>
      <!-- <controlPeriod>0.0001</controlPeriod> -->
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
      <!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
    </plugin>
  </gazebo>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="link4"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.85 0.19  0.21 1.0"/>
  </material>
  <material name="Blue">
    <color rgba="0.28 0.52 0.92 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.23 0.72 0.32 1.0"/>
  </material>
  <material name="Yellow">
    <color rgba="0.95 0.76 0.05 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Silver">
    <color rgba="0.753 0.753 0.753 1.0"/>
  </material>
 
  <link name="link4">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
      <material name="Green"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="1.115"/>
      <inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
    </inertial>
  </link>
  
</robot>

