<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content c6f90062464c1015 -->
<robot name="fr3">
  <link name="base" />
  <joint name="fr3_base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="fr3_link0" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/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="fr3_link0_accelerometer_top" />
  <joint name="fr3_link0_accelerometer_top_joint" type="fixed">
    <origin xyz="-0.017402 -0.007872 0.04715" rpy="3.1416 0.0 0.0" />
    <parent link="fr3_link0" />
    <child link="fr3_link0_accelerometer_top" />
  </joint>
  <link name="fr3_link0_accelerometer_bottom" />
  <joint name="fr3_link0_accelerometer_bottom_joint" type="fixed">
    <origin xyz="-0.019739 0.0015506 0.05075" rpy="0.0 0.0 -1.5708" />
    <parent link="fr3_link0" />
    <child link="fr3_link0_accelerometer_bottom" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="4.128e-07 -0.0181251324 -0.038603597" rpy="0.0 0.0 0.0" />
      <mass value="2.9274653454" />
      <inertia ixx="0.023927316485107913" ixy="1.3317903455714081e-05" ixz="-0.00011404774918616684" iyy="0.0224821613275756" iyz="-0.0019950320628240115" izz="0.006350098258530016" />
    </inertial>
  </link>
  <link name="fr3_link1_accelerometer_top" />
  <joint name="fr3_link1_accelerometer_top_joint" type="fixed">
    <origin xyz="0.017402 -0.093352 -0.00787" rpy="-1.5708 0.0 3.1416" />
    <parent link="fr3_link1" />
    <child link="fr3_link1_accelerometer_top" />
  </joint>
  <link name="fr3_link1_accelerometer_bottom" />
  <joint name="fr3_link1_accelerometer_bottom_joint" type="fixed">
    <origin xyz="0.01974 -0.08975 0.00155" rpy="-1.5708 1.5708 0.0" />
    <parent link="fr3_link1" />
    <child link="fr3_link1_accelerometer_bottom" />
  </joint>
  <joint name="fr3_joint1" type="revolute">
    <origin xyz="0.0 0.0 0.333" rpy="0.0 0.0 0.0" />
    <parent link="fr3_link0" />
    <child link="fr3_link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-2.9007" upper="2.9007" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0031828864 -0.0743221644 0.0088146084" rpy="0.0 0.0 0.0" />
      <mass value="2.9355370338" />
      <inertia ixx="0.041938946257609425" ixy="0.00020257331521090626" ixz="0.004077784227179924" iyy="0.02514514885014724" iyz="-0.0042252158006570156" izz="0.06170214472888839" />
    </inertial>
  </link>
  <link name="fr3_link2_accelerometer_top" />
  <joint name="fr3_link2_accelerometer_top_joint" type="fixed">
    <origin xyz="0.017403 -0.11715 0.00787" rpy="1.5708 0.0 3.1416" />
    <parent link="fr3_link2" />
    <child link="fr3_link2_accelerometer_top" />
  </joint>
  <link name="fr3_link2_accelerometer_bottom" />
  <joint name="fr3_link2_accelerometer_bottom_joint" type="fixed">
    <origin xyz="0.019737 -0.11875 -0.00155" rpy="1.5708 -1.5708 0.0" />
    <parent link="fr3_link2" />
    <child link="fr3_link2_accelerometer_bottom" />
  </joint>
  <joint name="fr3_joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796326794897 0.0 0.0" />
    <parent link="fr3_link1" />
    <child link="fr3_link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-1.8361" upper="1.8361" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0407015686 -0.0048200565 -0.0289730823" rpy="0.0 0.0 0.0" />
      <mass value="2.2449013699" />
      <inertia ixx="0.02410142547240885" ixy="0.002404694559042109" ixz="-0.002856269270114313" iyy="0.01974053266708178" iyz="-0.002104212683891874" izz="0.019044494482244823" />
    </inertial>
  </link>
  <link name="fr3_link3_accelerometer_top" />
  <joint name="fr3_link3_accelerometer_top_joint" type="fixed">
    <origin xyz="0.065099 0.077352 -0.00787" rpy="-1.5708 0.0 0.0" />
    <parent link="fr3_link3" />
    <child link="fr3_link3_accelerometer_top" />
  </joint>
  <link name="fr3_link3_accelerometer_bottom" />
  <joint name="fr3_link3_accelerometer_bottom_joint" type="fixed">
    <origin xyz="0.062769 0.073756 0.00155" rpy="1.5708 1.5708 0.0" />
    <parent link="fr3_link3" />
    <child link="fr3_link3_accelerometer_bottom" />
  </joint>
  <joint name="fr3_joint3" type="revolute">
    <origin xyz="0.0 -0.316 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3_link2" />
    <child link="fr3_link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-2.9007" upper="2.9007" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0459100965 0.063049296 -0.0085187868" rpy="0.0 0.0 0.0" />
      <mass value="2.6155955791" />
      <inertia ixx="0.03452998321913202" ixy="0.01322552265982813" ixz="0.01015142998484113" iyy="0.028881621933049058" iyz="-0.0009762833870704552" izz="0.04125471171146641" />
    </inertial>
  </link>
  <link name="fr3_link4_accelerometer_top" />
  <joint name="fr3_link4_accelerometer_top_joint" type="fixed">
    <origin xyz="-0.0651 0.046252 -0.00787" rpy="-1.5708 0.0 -3.1416" />
    <parent link="fr3_link4" />
    <child link="fr3_link4_accelerometer_top" />
  </joint>
  <link name="fr3_link4_accelerometer_bottom" />
  <joint name="fr3_link4_accelerometer_bottom_joint" type="fixed">
    <origin xyz="-0.062775 0.049753 0.00155" rpy="-1.5708 1.5708 0.0" />
    <parent link="fr3_link4" />
    <child link="fr3_link4_accelerometer_bottom" />
  </joint>
  <joint name="fr3_joint4" type="revolute">
    <origin xyz="0.0825 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3_link3" />
    <child link="fr3_link4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-3.077" upper="-0.1169" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0016039605 0.0292536262 -0.097296599" rpy="0.0 0.0 0.0" />
      <mass value="2.3271207594" />
      <inertia ixx="0.051610278463662895" ixy="-0.005715173387783472" ixz="-0.0035673167625872135" iyy="0.04787729713371481" iyz="0.010673985108535986" izz="0.016423625579357254" />
    </inertial>
  </link>
  <link name="fr3_link5_accelerometer_top" />
  <joint name="fr3_link5_accelerometer_top_joint" type="fixed">
    <origin xyz="-0.017363 0.085872 -0.00795" rpy="-1.5708 0.0 0.0" />
    <parent link="fr3_link5" />
    <child link="fr3_link5_accelerometer_top" />
  </joint>
  <link name="fr3_link5_accelerometer_bottom" />
  <joint name="fr3_link5_accelerometer_bottom_joint" type="fixed">
    <origin xyz="-0.019742 0.082275 0.00146" rpy="1.5708 1.5708 0.0" />
    <parent link="fr3_link5" />
    <child link="fr3_link5_accelerometer_bottom" />
  </joint>
  <joint name="fr3_joint5" type="revolute">
    <origin xyz="-0.0825 0.384 0.0" rpy="-1.570796326794897 0.0 0.0" />
    <parent link="fr3_link4" />
    <child link="fr3_link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="5.26" lower="-2.8763" upper="2.8763" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0597131221 -0.0410294666 -0.0101692726" rpy="0.0 0.0 0.0" />
      <mass value="1.8170376524" />
      <inertia ixx="0.005412333594383447" ixy="0.006193456360285834" ixz="0.0014219289306117652" iyy="0.014058329545509979" iyz="-0.0013140753741120031" izz="0.016080817924212554" />
    </inertial>
  </link>
  <joint name="fr3_joint6" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3_link5" />
    <child link="fr3_link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="4.18" lower="0.4398" upper="4.6216" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_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/fr3/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/fr3/collision/link7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0045225817 0.0086261921 -0.0161633251" rpy="0.0 0.0 0.0" />
      <mass value="0.6271432862" />
      <inertia ixx="0.00021092389150104718" ixy="-2.433299114461931e-05" ixz="4.564480393778983e-05" iyy="0.00017718568002411474" iyz="8.744070223226438e-05" izz="5.993190599659971e-05" />
    </inertial>
  </link>
  <joint name="fr3_joint7" type="revolute">
    <origin xyz="0.088 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3_link6" />
    <child link="fr3_link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="5.26" lower="-3.0508" upper="3.0508" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3_link8" />
  <joint name="fr3_joint8" type="fixed">
    <origin xyz="0.0 0.0 0.107" rpy="0.0 0.0 0.0" />
    <parent link="fr3_link7" />
    <child link="fr3_link8" />
  </joint>
  <joint name="fr3_hand_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.7853981633974483" />
    <parent link="fr3_link8" />
    <child link="fr3_hand" />
  </joint>
  <link name="fr3_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="fr3_hand_tcp" />
  <joint name="fr3_hand_tcp_joint" type="fixed">
    <origin xyz="0.0 0.0 0.1034" rpy="0.0 0.0 0.0" />
    <parent link="fr3_hand" />
    <child link="fr3_hand_tcp" />
  </joint>
  <link name="fr3_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="fr3_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="fr3_finger_joint1" type="prismatic">
    <origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
    <parent link="fr3_hand" />
    <child link="fr3_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="fr3_finger_joint2" type="prismatic">
    <origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 3.141592653589793" />
    <parent link="fr3_hand" />
    <child link="fr3_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>
