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In our laboratory we're using the AL5D robot from Lynxmotion (http://www.lynxmotion.com/c-130-al5d.aspx) for teaching students about robotics. We have introduced the robot definition in our own fork of the robotics-toolbox for python, but since this might be useful for others too, I decided to make a pull request with the newly defined robot.
We have included both a DH and URDF definition. Hope this is useful