namespace URDFStrings
{
    const char *abb120_urdf = R"(<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/xtark/ABB_ws/src/abb_experimental/abb_irb120_support/urdf/irb120_3_58.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="abb_irb120_3_58" xmlns:xacro="http://ros.org/wiki/xacro" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1">
  <!-- Conversion were obtained from http://www.e-paint.co.uk/Lab_values.asp
       unless otherwise stated. -->
  <!-- link list -->
  <link name="link_6" uuid="D9A71933-B7FA-4A77-805F-F7C404101CB1">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="base_link" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <link name="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08">
    <inertial>
      <mass value="6.215" />
      <origin rpy="0 0 0" xyz="-0.04204 8.01E-05 0.07964" />
      <inertia ixx="0.0247272" ixy="-8.0784E-05" ixz="0.00130902" iyy="0.0491285" iyz="-8.0419E-06" izz="0.0472376" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="0.7372549 0.3490196 0.1607843 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/base_link.stl" />
      </geometry>
      <material name="">
        <color rgba="1 1 0 1" />
      </material>
    </collision>
  </link>
  <!-- end of link list -->
  <!-- joint list -->
  <joint name="joint_6" type="revolute" innerId="8E926C36-2177-41F4-BA1C-8E34589BF818">
    <origin rpy="0 0 0" xyz="0.072 0 0" />
    <parent link="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08" />
    <child link="link_6" uuid="D9A71933-B7FA-4A77-805F-F7C404101CB1" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="1 0 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_1" type="revolute" innerId="45B6400D-AE70-4FE0-910A-6F8962B4F792">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="base_link" uuid="9D7EAEF4-1AAB-499E-8783-B6CE016BC6D1" />
    <child link="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 0 1" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_2" type="revolute" innerId="35A4A784-26D1-4DBA-BAEF-740B6E2278AB">
    <origin rpy="0 0 0" xyz="0 0 0.29" />
    <parent link="link_1" uuid="0A049A00-6C1F-4748-A22A-6B5942B09430" />
    <child link="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_3" type="revolute" innerId="BBAD98ED-4240-4E21-8620-C6D448303F9B">
    <origin rpy="0 0 0" xyz="0 0 0.27" />
    <parent link="link_2" uuid="F07C2A76-A13F-4475-B936-181FD8DBF986" />
    <child link="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_4" type="revolute" innerId="1A0AD00D-9676-49F1-BB15-852516029946">
    <origin rpy="0 0 0" xyz="0.134 0 0.07" />
    <parent link="link_3" uuid="94295448-DD21-4A87-A80F-F65B85AB861E" />
    <child link="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="1 0 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="joint_5" type="revolute" innerId="29B7FB0E-32B5-4216-A3E4-95EA7767B3B8">
    <origin rpy="0 0 0" xyz="0.168 0 0" />
    <parent link="link_4" uuid="964D5694-ACC3-4C30-93F3-066D1FA04952" />
    <child link="link_5" uuid="243AAD5C-4E64-4E9E-A9FA-E79600045F08" />
    <limit effort="0" lower="-6.28318548202515" upper="6.28318548202515" velocity="1.39626336097717" />
    <axis xyz="0 1 0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <!-- end of joint list -->
  <!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
  <link name="base" uuidBase="39fc08ad-6f2e-4fc5-8bcc-dd6e35918a31" />
  <joint name="base_link-base" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="base" />
    <child link="base_link" />
  </joint>
  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
  <link name="flange" />
  <joint name="joint_6-flange" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="link_6" />
    <child link="flange" />
  </joint>
  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
  <link name="tool0" uuidTool="5b570726-e374-4d8a-882e-60c803f37ac0" />
  <joint name="link_6-tool0" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="flange" />
    <child link="tool0" />
  </joint>
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
    </plugin>
  </gazebo>
</robot>
)";
}
