<commit_before><?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
	<xacro:macro name="motoman_arm" params="name prefix parent *origin reflect">
		<link name="${prefix}link_1_s">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_s.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver">
					<color rgba="0.8 0.8 0.8 1"/>
				</material>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_s.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_2_l">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_l.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_l.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_3_e">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_e.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_e.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_4_u">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_u.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_u.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_5_r">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_r.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_r.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_6_b">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_b.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_b.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_7_t">
			<visual>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_t.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
                                <origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_t.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
	    <link name="${prefix}link_tool0" />
		
		<joint name="${prefix}joint_1_s" type="revolute">
			<parent link="torso_link_b1"/>
			<child link="${prefix}link_1_s"/>
			<origin xyz="0.1 ${reflect*0.023} 0.3381" rpy="1.57 0 ${(reflect-1)*1.57}"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-3.13" upper="3.13" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_2_l" type="revolute">
			<parent link="${prefix}link_1_s"/>
			<child link="${prefix}link_2_l"/>
			<origin xyz="0 0.0454 -0.242" rpy="-1.57 0 0"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-1.90" upper="1.90" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_3_e" type="revolute">
			<parent link="${prefix}link_2_l"/>
			<child link="${prefix}link_3_e"/>
			<origin xyz="0 0.175 -0.04540" rpy="1.57 0 0"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-2.95" upper="2.95" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_4_u" type="revolute">
			<parent link="${prefix}link_3_e"/>
			<child link="${prefix}link_4_u"/>
			<origin xyz="0.00001 -0.0155 -0.185" rpy="-1.57 0 0"/>
			<axis xyz="0 0 ${reflect}" />
			<limit lower="-2.36" upper="2.36" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_5_r" type="revolute">
			<parent link="${prefix}link_4_u"/>
			<child link="${prefix}link_5_r"/>
			<origin xyz="0.00002 0.1487 0.0155" rpy="1.57 0 0"/>
			<axis xyz="0 0 ${reflect}" />
			<limit lower="-3.13" upper="3.13" effort="0" velocity="3.48" />
		</joint>
		<joint name="${prefix}joint_6_b" type="revolute">
			<parent link="${prefix}link_5_r"/>
			<child link="${prefix}link_6_b"/>
			<origin xyz="0.00001 0.015 -0.2113" rpy="-1.57 0 0"/>
			<axis xyz="0 0 ${reflect}" />
			<limit lower="-1.90" upper="1.90" effort="0" velocity="3.48" />
		</joint>
		<joint name="${prefix}joint_7_t" type="revolute">
			<parent link="${prefix}link_6_b"/>
			<child link="${prefix}link_7_t"/>
			<origin xyz="0 0.118 -0.015" rpy="1.57 0 0"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-3.13" upper="3.13" effort="0" velocity="6.97" />
		</joint>
    <joint name="${prefix}joint_tool0" type="fixed" >
      <origin xyz="0 0 -0.057" rpy="3.13 0 0"/>
      <parent link="${prefix}link_7_t" />
      <child link="${prefix}link_tool0" />
    </joint>
		<!-- end of joint list -->
	</xacro:macro>
</robot><commit_msg>Correction of tool 0 on robot flange: Cordinate frame was misplaced before<commit_after><?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
	<xacro:macro name="motoman_arm" params="name prefix parent *origin reflect">
		<link name="${prefix}link_1_s">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_s.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver">
					<color rgba="0.8 0.8 0.8 1"/>
				</material>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_s.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_2_l">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_l.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_l.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_3_e">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_e.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_e.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_4_u">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_u.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_u.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_5_r">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_r.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_r.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_6_b">
			<visual>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_b.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
				<origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_b.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
		<link name="${prefix}link_7_t">
			<visual>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/visual/csda_axis_t.STL" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="silver"/>
			</visual>
			<collision>
                                <origin rpy="0 0 0" xyz="0 0 0"/>
				<geometry>
					<mesh filename="package://motoman_csda10f_support/meshes/csda10f/collision/csda_axis_t.stl" scale="0.001 0.001 0.001"/>
				</geometry>
				<material name="yellow"/>
			</collision>
		</link>
	    <link name="${prefix}link_tool0" />
		
		<joint name="${prefix}joint_1_s" type="revolute">
			<parent link="torso_link_b1"/>
			<child link="${prefix}link_1_s"/>
			<origin xyz="0.1 ${reflect*0.023} 0.3381" rpy="1.57 0 ${(reflect-1)*1.57}"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-3.13" upper="3.13" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_2_l" type="revolute">
			<parent link="${prefix}link_1_s"/>
			<child link="${prefix}link_2_l"/>
			<origin xyz="0 0.0454 -0.242" rpy="-1.57 0 0"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-1.90" upper="1.90" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_3_e" type="revolute">
			<parent link="${prefix}link_2_l"/>
			<child link="${prefix}link_3_e"/>
			<origin xyz="0 0.175 -0.04540" rpy="1.57 0 0"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-2.95" upper="2.95" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_4_u" type="revolute">
			<parent link="${prefix}link_3_e"/>
			<child link="${prefix}link_4_u"/>
			<origin xyz="0.00001 -0.0155 -0.185" rpy="-1.57 0 0"/>
			<axis xyz="0 0 ${reflect}" />
			<limit lower="-2.36" upper="2.36" effort="0" velocity="2.95" />
		</joint>
		<joint name="${prefix}joint_5_r" type="revolute">
			<parent link="${prefix}link_4_u"/>
			<child link="${prefix}link_5_r"/>
			<origin xyz="0.00002 0.1487 0.0155" rpy="1.57 0 0"/>
			<axis xyz="0 0 ${reflect}" />
			<limit lower="-3.13" upper="3.13" effort="0" velocity="3.48" />
		</joint>
		<joint name="${prefix}joint_6_b" type="revolute">
			<parent link="${prefix}link_5_r"/>
			<child link="${prefix}link_6_b"/>
			<origin xyz="0.00001 0.015 -0.2113" rpy="-1.57 0 0"/>
			<axis xyz="0 0 ${reflect}" />
			<limit lower="-1.90" upper="1.90" effort="0" velocity="3.48" />
		</joint>
		<joint name="${prefix}joint_7_t" type="revolute">
			<parent link="${prefix}link_6_b"/>
			<child link="${prefix}link_7_t"/>
			<origin xyz="0 0.118 -0.015" rpy="1.57 0 0"/>
			<axis xyz="0 0 ${-reflect}" />
			<limit lower="-3.13" upper="3.13" effort="0" velocity="6.97" />
		</joint>

    <joint name="${prefix}joint_tool0" type="fixed" >
      <origin xyz="0 0 -0.0569999" rpy="3.13 0 0"/>
      <parent link="${prefix}link_7_t" />
      <child link="${prefix}link_tool0" />
    </joint>
		<!-- end of joint list -->
	</xacro:macro>
</robot>
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