<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 144af313615006f6 -->
<robot name="fr3v2">
  <link name="base" />
  <joint name="fr3v2_base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="fr3v2_link0" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/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="fr3v2_link0_accelerometer_top" />
  <joint name="fr3v2_link0_accelerometer_top_joint" type="fixed">
    <origin xyz="-0.017402 -0.007872 0.04715" rpy="3.1416 0.0 0.0" />
    <parent link="fr3v2_link0" />
    <child link="fr3v2_link0_accelerometer_top" />
  </joint>
  <link name="fr3v2_link0_accelerometer_bottom" />
  <joint name="fr3v2_link0_accelerometer_bottom_joint" type="fixed">
    <origin xyz="-0.019739 0.0015506 0.05075" rpy="0.0 0.0 -1.5708" />
    <parent link="fr3v2_link0" />
    <child link="fr3v2_link0_accelerometer_bottom" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00458 0.027016 -0.0618" rpy="0.0 0.0 0.0" />
      <mass value="2.4377" />
      <inertia ixx="0.02324" ixy="0.000333" ixz="-0.000676" iyy="0.02146" iyz="0.003739" izz="0.0055" />
    </inertial>
  </link>
  <link name="fr3v2_link1_accelerometer_top" />
  <joint name="fr3v2_link1_accelerometer_top_joint" type="fixed">
    <origin xyz="0.017402 -0.093352 -0.00787" rpy="-1.5708 0.0 3.1416" />
    <parent link="fr3v2_link1" />
    <child link="fr3v2_link1_accelerometer_top" />
  </joint>
  <link name="fr3v2_link1_accelerometer_bottom" />
  <joint name="fr3v2_link1_accelerometer_bottom_joint" type="fixed">
    <origin xyz="0.01974 -0.08975 0.00155" rpy="-1.5708 1.5708 0.0" />
    <parent link="fr3v2_link1" />
    <child link="fr3v2_link1_accelerometer_bottom" />
  </joint>
  <joint name="fr3v2_joint1" type="revolute">
    <origin xyz="0.0 0.0 0.333" rpy="0.0 0.0 0.0" />
    <parent link="fr3v2_link0" />
    <child link="fr3v2_link1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-2.9007400166666666" upper="2.9007400166666666" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.004541 -0.180691 -0.010479" rpy="0.0 0.0 0.0" />
      <mass value="2.2375" />
      <inertia ixx="0.019026" ixy="0.001241" ixz="0.000499" iyy="0.00566" iyz="-0.001804" izz="0.017114" />
    </inertial>
  </link>
  <link name="fr3v2_link2_accelerometer_top" />
  <joint name="fr3v2_link2_accelerometer_top_joint" type="fixed">
    <origin xyz="0.017403 -0.11515 0.00787" rpy="1.5708 0.0 3.1416" />
    <parent link="fr3v2_link2" />
    <child link="fr3v2_link2_accelerometer_top" />
  </joint>
  <link name="fr3v2_link2_accelerometer_bottom" />
  <joint name="fr3v2_link2_accelerometer_bottom_joint" type="fixed">
    <origin xyz="0.019737 -0.11875 -0.00155" rpy="1.5708 -1.5708 0.0" />
    <parent link="fr3v2_link2" />
    <child link="fr3v2_link2_accelerometer_bottom" />
  </joint>
  <joint name="fr3v2_joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796326794897 0.0 0.0" />
    <parent link="fr3v2_link1" />
    <child link="fr3v2_link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-1.8360900166666667" upper="1.8360900166666667" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.08254 0.019082 0.042027" rpy="0.0 0.0 0.0" />
      <mass value="2.193082" />
      <inertia ixx="0.010225" ixy="0.001144" ixz="0.003497" iyy="0.012398" iyz="0.002156" izz="0.006877" />
    </inertial>
  </link>
  <link name="fr3v2_link3_accelerometer_top" />
  <joint name="fr3v2_link3_accelerometer_top_joint" type="fixed">
    <origin xyz="0.065099 0.077352 -0.00787" rpy="-1.5708 0.0 0.0" />
    <parent link="fr3v2_link3" />
    <child link="fr3v2_link3_accelerometer_top" />
  </joint>
  <link name="fr3v2_link3_accelerometer_bottom" />
  <joint name="fr3v2_link3_accelerometer_bottom_joint" type="fixed">
    <origin xyz="0.062769 0.073756 0.00155" rpy="1.5708 1.5708 0.0" />
    <parent link="fr3v2_link3" />
    <child link="fr3v2_link3_accelerometer_bottom" />
  </joint>
  <joint name="fr3v2_joint3" type="revolute">
    <origin xyz="0.0 -0.316 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3v2_link2" />
    <child link="fr3v2_link3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-2.9007400166666666" upper="2.9007400166666666" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.087533 0.096335 0.01012" rpy="0.0 0.0 0.0" />
      <mass value="2.181537" />
      <inertia ixx="0.008878" ixy="-0.003749" ixz="0.001139" iyy="0.007628" iyz="-0.00046" izz="0.010295" />
    </inertial>
  </link>
  <link name="fr3v2_link4_accelerometer_top" />
  <joint name="fr3v2_link4_accelerometer_top_joint" type="fixed">
    <origin xyz="-0.0651 0.046152 -0.00787" rpy="-1.5708 0.0 -3.1416" />
    <parent link="fr3v2_link4" />
    <child link="fr3v2_link4_accelerometer_top" />
  </joint>
  <link name="fr3v2_link4_accelerometer_bottom" />
  <joint name="fr3v2_link4_accelerometer_bottom_joint" type="fixed">
    <origin xyz="-0.062775 0.049753 0.00155" rpy="-1.5708 1.5708 0.0" />
    <parent link="fr3v2_link4" />
    <child link="fr3v2_link4_accelerometer_bottom" />
  </joint>
  <joint name="fr3v2_joint4" type="revolute">
    <origin xyz="0.0825 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3v2_link3" />
    <child link="fr3v2_link4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="87.0" velocity="2.62" lower="-3.077020016666667" upper="-0.11693708333333333" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.008383 0.01018 -0.053265" rpy="0.0 0.0 0.0" />
      <mass value="2.186881" />
      <inertia ixx="0.031874" ixy="0.000134" ixz="-0.000265" iyy="0.029674" iyz="-0.004734" izz="0.004751" />
    </inertial>
  </link>
  <link name="fr3v2_link5_accelerometer_top" />
  <joint name="fr3v2_link5_accelerometer_top_joint" type="fixed">
    <origin xyz="-0.017363 0.085872 -0.00795" rpy="-1.5708 0.0 0.0" />
    <parent link="fr3v2_link5" />
    <child link="fr3v2_link5_accelerometer_top" />
  </joint>
  <link name="fr3v2_link5_accelerometer_bottom" />
  <joint name="fr3v2_link5_accelerometer_bottom_joint" type="fixed">
    <origin xyz="-0.019742 0.082275 0.00146" rpy="1.5708 1.5708 0.0" />
    <parent link="fr3v2_link5" />
    <child link="fr3v2_link5_accelerometer_bottom" />
  </joint>
  <joint name="fr3v2_joint5" type="revolute">
    <origin xyz="-0.0825 0.384 0.0" rpy="-1.570796326794897 0.0 0.0" />
    <parent link="fr3v2_link4" />
    <child link="fr3v2_link5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="5.26" lower="-2.87630335" upper="2.87630335" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.070391 -0.016074 -0.035025" rpy="0.0 0.0 0.0" />
      <mass value="1.579681" />
      <inertia ixx="0.00286" ixy="-0.000553" ixz="-0.000638" iyy="0.00391" iyz="-0.00024" izz="0.00453" />
    </inertial>
  </link>
  <joint name="fr3v2_joint6" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3v2_link5" />
    <child link="fr3v2_link6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="4.18" lower="0.43982265" upper="4.62163335" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_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/fr3v2/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/fr3v2/collision/link7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.009108 0.018151 0.064946" rpy="0.0 0.0 0.0" />
      <mass value="0.694841" />
      <inertia ixx="0.000899" ixy="0.0" ixz="-1.3e-05" iyy="0.001099" iyz="-2.2e-05" izz="0.000702" />
    </inertial>
  </link>
  <joint name="fr3v2_joint7" type="revolute">
    <origin xyz="0.088 0.0 0.0" rpy="1.570796326794897 0.0 0.0" />
    <parent link="fr3v2_link6" />
    <child link="fr3v2_link7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="12.0" velocity="5.26" lower="-3.05083335" upper="3.05083335" />
    <dynamics damping="0.003" friction="0.2" />
  </joint>
  <link name="fr3v2_link8" />
  <joint name="fr3v2_joint8" type="fixed">
    <origin xyz="0.0 0.0 0.107" rpy="0.0 0.0 0.0" />
    <parent link="fr3v2_link7" />
    <child link="fr3v2_link8" />
  </joint>
  <joint name="fr3v2_hand_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -0.7853981633974483" />
    <parent link="fr3v2_link8" />
    <child link="fr3v2_hand" />
  </joint>
  <link name="fr3v2_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="fr3v2_hand_tcp" />
  <joint name="fr3v2_hand_tcp_joint" type="fixed">
    <origin xyz="0.0 0.0 0.1034" rpy="0.0 0.0 0.0" />
    <parent link="fr3v2_hand" />
    <child link="fr3v2_hand_tcp" />
  </joint>
  <link name="fr3v2_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="fr3v2_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="fr3v2_finger_joint1" type="prismatic">
    <origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 0.0" />
    <parent link="fr3v2_hand" />
    <child link="fr3v2_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="fr3v2_finger_joint2" type="prismatic">
    <origin xyz="0.0 0.0 0.0584" rpy="0.0 0.0 3.141592653589793" />
    <parent link="fr3v2_hand" />
    <child link="fr3v2_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>
