<?xml version='1.0' encoding='utf-8'?>
<robot name="x5_arm">
  <link name="base_link" />
  <joint name="x5_mount_joint" type="fixed">
    <parent link="base_link" />
    <child link="x5_base_link" />
    <origin rpy="0 0 0" xyz="0 0 0" />
  </joint>
  <link name="x5_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.78925661e-05 4.83080867e-05 2.12169150e-02" />
      <mass value="0.57757038" />
      <inertia ixx="1.24434464e-03" ixy="3.43971966e-07" ixz="1.12659675e-06" iyy="8.09200923e-04" iyz="-1.95162785e-06" izz="7.49693028e-04" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/base_link.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/base_link.STL" />
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/x5_plate_base.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/x5_plate_base.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <link name="x5_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00571213 0.0002547 0.01750661" />
      <mass value="0.064" />
      <inertia ixx="0.00008" ixy="0.00000" ixz="0.00001" iyy="0.00003" iyz="0.00000" izz="0.00007" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link1.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.0603" />
    <parent link="x5_base_link" />
    <child link="x5_link1" />
    <axis xyz="0 0 1" />
    <limit effort="30.0" lower="-3.14" upper="2.618" velocity="5.0" />
  </joint>
  <link name="x5_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.13225701 0.00072373 4.274e-5" />
      <mass value="1.165" />
      <inertia ixx="0.00057063" ixy="0.00011251" ixz="0.00001979" iyy="0.03669927" iyz="1.203e-8" izz="0.03683489" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link2.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_joint2" type="revolute">
    <origin rpy="0 0 0" xyz="0.02 0 0.0402" />
    <parent link="x5_link1" />
    <child link="x5_link2" />
    <axis xyz="0 1 0" />
    <limit effort="40.0" lower="-0.05" upper="3.50" velocity="5.0" />
  </joint>
  <link name="x5_link3">
    <inertial>
      <origin rpy="-3.14159265 0 0" xyz="0.19096098 -0.00069065 0.05342172" />
      <mass value="0.546" />
      <inertia ixx="0.00178249" ixy="0.00003986" ixz="-0.00571" iyy="0.02486615" iyz="0.00001346" izz="0.02329476" />
    </inertial>
    <visual>
      <origin rpy="-3.14159265 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link3.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="-3.14159265 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link3.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="-0.264 0 0" />
    <parent link="x5_link2" />
    <child link="x5_link3" />
    <axis xyz="0 -1 0" />
    <limit effort="30.0" lower="-0.1" upper="3.20" velocity="5.5" />
  </joint>
  <link name="x5_link4">
    <inertial>
      <origin rpy="-3.14159265 0 0" xyz="0.03092317 -0.0066107 0.03138504" />
      <mass value="0.080971" />
      <inertia ixx="0.00017832" ixy="-0.00001697" ixz="-0.0000776" iyy="0.00021182" iyz="-0.00001779" izz="0.00011328" />
    </inertial>
    <visual>
      <origin rpy="-3.14159265 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link4.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="-3.14159265 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link4.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="0.245 0 0.056" />
    <parent link="x5_link3" />
    <child link="x5_link4" />
    <axis xyz="0 -1 0" />
    <limit effort="15.0" lower="-1.6" upper="1.55" velocity="5.5" />
  </joint>
  <link name="x5_link5">
    <inertial>
      <origin rpy="-3.14159265 0 0" xyz="0.0040681 -0.00000885 -0.05120675" />
      <mass value="0.655" />
      <inertia ixx="0.00254972" ixy="-0.00000026" ixz="0.00021534" iyy="0.00255018" iyz="-0.000000598" izz="0.00026961" />
    </inertial>
    <visual>
      <origin rpy="-3.14159265 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link5.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="-3.14159265 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link5.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_joint5" type="revolute">
    <origin rpy="0 0 0" xyz="0.06575 0.001 0.0825" />
    <parent link="x5_link4" />
    <child link="x5_link5" />
    <axis xyz="0 0 -1" />
    <limit effort="10.0" lower="-1.57" upper="1.57" velocity="5.0" />
  </joint>
  <link name="x5_link6">
    <inertial>
      <origin rpy="0 0 0" xyz="0.05435277 0 0" />
      <mass value="0.581000" />
      <inertia ixx="0.00029" ixy="0.00000" ixz="0.00000" iyy="0.00028" iyz="-0.00001" izz="0.00045" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link6.STL" />
      </geometry>
      <material name="gray" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_joint6" type="revolute">
    <origin rpy="0 0 0" xyz="0.03745 0 -0.0825" />
    <parent link="x5_link5" />
    <child link="x5_link6" />
    <axis xyz="1 0 0" />
    <limit effort="10.0" lower="-2.0" upper="2.0" velocity="5.0" />
  </joint>
  <link name="x5_camera_link6">
    <inertial>
      <origin rpy="0 0 0" xyz="0.031705339 0.00058405055 0.073857921" />
      <mass value="0.094786431" />
      <inertia ixx="0.011266595" ixy="-0.000045097006" ixz="0.00056651213" iyy="0.012219345" iyz="0.000025030101" izz="0.011786854" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/camera_link6.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="black" />
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="meshes/frontier_description/arx_x5/camera_link6.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  <joint name="x5_camera_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="x5_link6" />
    <child link="x5_camera_link6" />
  </joint>
</robot>