<?xml version="1.0" ?>
<robot name="ur10e">
  <link name="world"/>
  <link name="base_link"/>
  <link name="shoulder_link"/>
  <link name="upper_arm_link"/>
  <link name="forearm_link"/>
  <link name="wrist_1_link"/>
  <link name="wrist_2_link"/>
  <link name="wrist_3_link"/>
  <link name="tool0"/>

  <joint name="base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="world"/>
    <child link="base_link"/>
  </joint>
  <joint name="shoulder_pan_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.1807"/>
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
  </joint>
  <joint name="shoulder_lift_joint" type="revolute">
    <origin rpy="1.570796327 0 0" xyz="0 0 0"/>
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="2.0943951023931953"/>
  </joint>
  <joint name="elbow_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.6127 0 0"/>
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.141592653589793"/>
  </joint>
  <joint name="wrist_1_joint" type="revolute">
    <origin rpy="0 0 0" xyz="-0.57155 0 0.17415"/>
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
  </joint>
  <joint name="wrist_2_joint" type="revolute">
    <origin rpy="1.570796327 0 0" xyz="0 -0.11985 0"/>
    <parent link="wrist_1_link"/>
    <child link="wrist_2_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
  </joint>
  <joint name="wrist_3_joint" type="revolute">
    <origin rpy="1.570796326589793 3.141592653589793 3.141592653589793" xyz="0 0.11655 0"/>
    <parent link="wrist_2_link"/>
    <child link="wrist_3_link"/>
    <axis xyz="0 0 1"/>
    <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.141592653589793"/>
  </joint>
  <joint name="tool0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="wrist_3_link"/>
    <child link="tool0"/>
  </joint>
</robot>
