KUKA LBR

Joint 1
xyz 0 0 -0.1915
Parent J1
Child J2

Joint2
xyz 0 0 0
Parent J2
Child J3

Joint 3
xyz 0 0 -0.400
Parent J3
Child J4

Joint 4
xyz 0 0 0 
Parent J4
Child J5

Joint 5
xyz 0 0 -0.390
Parent J5
Child J6

Joint 6
xyz 0 0 0
Parent J5
Child J6

Joint 7
xyz 0 0 -0.078
Parent J6
Child J7

Offset to hand 0.078

  <xacro:cob_arm_v0 name="arm" parent="base_link">
    <origin xyz="0.040 -0.005 0.83637" rpy="3.1415926 0.7854 -1.8326" />
  </xacro:cob_arm_v0>

