<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content eed3119bdaa8c22c -->
<robot name="fer">
  <link name="base" />
  <joint name="fer_base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="fer_link0" />
  </joint>
  <link name="fer_link0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link0.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link0.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0172 0.0004 0.0745" rpy="0.0 0.0 0.0" />
      <mass value="2.3966" />
      <inertia ixx="0.009" ixy="0.0" ixz="0.002" iyy="0.0115" iyz="0.0" izz="0.0085" />
    </inertial>
  </link>
  <link name="fer_link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00033 -0.02204 -0.04762" rpy="0.0 0.0 0.0" />
      <mass value="2.7907" />
      <inertia ixx="0.01564782655" ixy="5.31236e-06" ixz="-3.676721e-05" iyy="0.01439883526" iyz="-0.00248480843" izz="0.00500443991" />
    </inertial>
  </link>
  <joint name="fer_joint1" type="revolute">
    <origin xyz="0.0 0.0 0.333" rpy="0.0 0.0 0.0" />
    <parent link="fer_link0" />
    <child link="fer_link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.175" lower="-2.8973" upper="2.8973" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00038 -0.09211 0.01908" rpy="0.0 0.0 0.0" />
      <mass value="2.542" />
      <inertia ixx="0.01662427728" ixy="3.086077e-05" ixz="8.3594e-06" iyy="0.00462501261" iyz="0.0035589983" izz="0.01545124526" />
    </inertial>
  </link>
  <joint name="fer_joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796326794897 0.0 0.0" />
    <parent link="fer_link1" />
    <child link="fer_link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.175" lower="-1.7628" upper="1.7628" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.05152 0.01696 -0.02971" rpy="0.0 0.0 0.0" />
      <mass value="2.2513" />
      <inertia ixx="0.00631741992" ixy="0.00097309955" ixz="0.00292525834" iyy="0.00866285493" iyz="0.00093469224" izz="0.00657804051" />
    </inertial>
  </link>
  <joint name="fer_joint3" type="revolute">
    <origin xyz="0.0 -0.316 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fer_link2" />
    <child link="fer_link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.175" lower="-2.8973" upper="2.8973" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link4.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05113 0.05825 0.01698" rpy="0.0 0.0 0.0" />
      <mass value="2.2037" />
      <inertia ixx="0.00784585566" ixy="-0.00339591957" ixz="0.00158704074" iyy="0.00649543136" iyz="-0.00181477884" izz="0.01003079917" />
    </inertial>
  </link>
  <joint name="fer_joint4" type="revolute">
    <origin xyz="0.0825 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fer_link3" />
    <child link="fer_link4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.175" lower="-3.0718" upper="-0.0698" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link5.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-5e-05 0.0373 -0.0928" rpy="0.0 0.0 0.0" />
      <mass value="2.2855" />
      <inertia ixx="0.02297014781" ixy="-9.49345e-06" ixz="-2.063156e-05" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551" />
    </inertial>
  </link>
  <joint name="fer_joint5" type="revolute">
    <origin xyz="-0.0825 0.384 0.0" rpy="-1.570796326794897 0.0 0.0" />
    <parent link="fer_link4" />
    <child link="fer_link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="2.61" lower="-2.8973" upper="2.8973" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link6.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.06572 -0.00371 0.00153" rpy="0.0 0.0 0.0" />
      <mass value="1.353" />
      <inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="1.274322e-05" izz="0.00286701969" />
    </inertial>
  </link>
  <joint name="fer_joint6" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fer_link5" />
    <child link="fer_link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="2.61" lower="-0.0175" upper="3.7525" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/visual/link7.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robots/fer/collision/link7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00089 -0.00044 0.05491" rpy="0.0 0.0 0.0" />
      <mass value="0.35973" />
      <inertia ixx="0.00019541063" ixy="1.65231e-06" ixz="1.48826e-06" iyy="0.00019210361" iyz="-1.31132e-06" izz="0.00017936256" />
    </inertial>
  </link>
  <joint name="fer_joint7" type="revolute">
    <origin xyz="0.088 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fer_link6" />
    <child link="fer_link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="2.61" lower="-2.8973" upper="2.8973" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fer_link8" />
  <joint name="fer_joint8" type="fixed">
    <origin xyz="0.0 0.0 0.107" rpy="0.0 0.0 0.0" />
    <parent link="fer_link7" />
    <child link="fer_link8" />
  </joint>
  <joint name="fer_hand_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.7853981633974483" />
    <parent link="fer_link8" />
    <child link="fer_hand" />
  </joint>
  <link name="fer_hand">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/hand.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/collision/hand.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-3.76e-05 0.0119128 0.020726" rpy="0.0 0.0 0.0" />
      <mass value="0.6544" />
      <inertia ixx="0.00186" ixy="0.0" ixz="0.0" iyy="0.0003" iyz="-2e-05" izz="0.00174" />
    </inertial>
  </link>
  <link name="fer_hand_tcp" />
  <joint name="fer_hand_tcp_joint" type="fixed">
    <origin xyz="0.0 0.0 0.1034" rpy="0.0 0.0 0.0" />
    <parent link="fer_hand" />
    <child link="fer_hand_tcp" />
  </joint>
  <link name="fer_leftfinger">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0185 0.011" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.022 0.015 0.02" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0068 0.0022" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.022 0.0088 0.0038" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0159 0.02835" rpy="0.5235987755982988 0.0 0.0" />
      <geometry>
        <box size="0.0175 0.007 0.0235" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.00758 0.04525" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.0175 0.0152 0.0185" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.015285 0.0219675" rpy="0.0 0.0 0.0" />
      <mass value="0.0291" />
      <inertia ixx="8.49e-06" ixy="0.0" ixz="0.0" iyy="8.53e-06" iyz="-1.06e-06" izz="1.77e-06" />
    </inertial>
  </link>
  <link name="fer_rightfinger">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://franka_description/meshes/robot_ee/franka_hand_white/visual/finger.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0185 0.011" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.022 0.015 0.02" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0068 0.0022" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.022 0.0088 0.0038" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0159 0.02835" rpy="-0.5235987755982988 0.0 3.141592653589793" />
      <geometry>
        <box size="0.0175 0.007 0.0235" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.00758 0.04525" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.0175 0.0152 0.0185" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.015285 0.0219675" rpy="0.0 0.0 0.0" />
      <mass value="0.0291" />
      <inertia ixx="8.49e-06" ixy="0.0" ixz="0.0" iyy="8.53e-06" iyz="-1.06e-06" izz="1.77e-06" />
    </inertial>
  </link>
  <joint name="fer_finger_joint1" type="prismatic">
    <origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
    <parent link="fer_hand" />
    <child link="fer_leftfinger" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="100.0" velocity="0.2" lower="0.0" upper="0.04" />
    <dynamics damping="0.3" friction="0.0" />
  </joint>
  <joint name="fer_finger_joint2" type="prismatic">
    <origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 3.141592653589793" />
    <parent link="fer_hand" />
    <child link="fer_rightfinger" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="100.0" velocity="0.2" lower="0.0" upper="0.04" />
    <dynamics damping="0.3" friction="0.0" />
  </joint>
</robot>
