<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 0219c15e40dd537d -->
<robot name="hsrc">
  <material name="body_main">
    <color rgba="1.0 0.0 0.0 1.0" />
  </material>
  <material name="body_sub">
    <color rgba="0.33 0.33 0.33 1.0" />
  </material>
  <material name="wheel">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <material name="black">
    <color rgba="0.1 0.1 0.1 1.0" />
  </material>
  <material name="tablet">
    <color rgba="0.1 0.1 0.2 1.0" />
  </material>
  <link name="base_footprint" />
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_footprint" />
    <child link="base_link" />
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/base_light.dae" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/body_light.dae" />
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/torso_base.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.025978 -0.005498 0.17633" />
      <mass value="50.0" />
      <inertia ixx="0.3742" ixy="0.000434172172" ixz="0.03088" iyy="0.3436" iyz="0.01775" izz="0.1509" />
    </inertial>
  </link>
  <joint name="base_roll_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="base_roll_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="34.46" velocity="2.5" />
    <dynamics damping="0.7" friction="0.0" />
  </joint>
  <link name="base_roll_link">
    <inertial>
      <origin xyz="-0.019482 0.002191 0.071013" />
      <mass value="10.239419" />
      <inertia ixx="0.07671" ixy="-0.01005" ixz="0.001749" iyy="0.09057" iyz="0.001549" izz="0.145" />
    </inertial>
  </link>
  <joint name="base_r_drive_wheel_joint" type="continuous">
    <origin xyz="-0.11 -0.133 0.0445" rpy="0.0 0.0 0.0" />
    <parent link="base_roll_link" />
    <child link="base_r_drive_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="28.0" velocity="20.8" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="base_r_drive_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0445" />
      </geometry>
      <material name="wheel" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0445" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_l_drive_wheel_joint" type="continuous">
    <origin xyz="-0.11 0.133 0.0445" rpy="0.0 0.0 0.0" />
    <parent link="base_roll_link" />
    <child link="base_l_drive_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="28.0" velocity="20.8" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="base_l_drive_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0445" />
      </geometry>
      <material name="wheel" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.0445" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_r_passive_wheel_x_frame_joint" type="continuous">
    <origin xyz="0.1665 -0.055 0.0245" rpy="0.0 0.0 0.0" />
    <parent link="base_roll_link" />
    <child link="base_r_passive_wheel_x_frame" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1.0" velocity="3.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="base_r_passive_wheel_x_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_r_passive_wheel_y_frame_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_r_passive_wheel_x_frame" />
    <child link="base_r_passive_wheel_y_frame" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="8.85" velocity="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base_r_passive_wheel_y_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_r_passive_wheel_z_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_r_passive_wheel_y_frame" />
    <child link="base_r_passive_wheel_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="8.85" velocity="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base_r_passive_wheel_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0245" />
      </geometry>
      <material name="wheel" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0245" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_l_passive_wheel_x_frame_joint" type="continuous">
    <origin xyz="0.1665 0.055 0.0245" rpy="0.0 0.0 0.0" />
    <parent link="base_roll_link" />
    <child link="base_l_passive_wheel_x_frame" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1.0" velocity="3.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="base_l_passive_wheel_x_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_l_passive_wheel_y_frame_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_l_passive_wheel_x_frame" />
    <child link="base_l_passive_wheel_y_frame" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="8.85" velocity="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base_l_passive_wheel_y_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_l_passive_wheel_z_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_l_passive_wheel_y_frame" />
    <child link="base_l_passive_wheel_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="8.85" velocity="10.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base_l_passive_wheel_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0245" />
      </geometry>
      <material name="wheel" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.0245" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="base_range_sensor_joint" type="fixed">
    <origin xyz="0.167 0.0 0.1904" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="base_range_sensor_link" />
  </joint>
  <link name="base_range_sensor_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrb_parts_description/meshes/sensors/laser.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrb_parts_description/meshes/sensors/laser.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="base_imu_frame_joint" type="fixed">
    <origin xyz="0.0005 0.1296 0.181" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="base_imu_frame" />
  </joint>
  <link name="base_imu_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="base_f_bumper_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="base_f_bumper_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base_f_bumper_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/bumper.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/bumper.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.06" />
      <inertia ixx="0.001537" ixy="0.0" ixz="0.0" iyy="0.001537" iyz="0.0" izz="0.002875" />
    </inertial>
  </link>
  <joint name="base_b_bumper_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
    <parent link="base_link" />
    <child link="base_b_bumper_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" lower="0.0" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="base_b_bumper_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/bumper.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/base_v0/bumper.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.06" />
      <inertia ixx="0.001537" ixy="0.0" ixz="0.0" iyy="0.001537" iyz="0.0" izz="0.002875" />
    </inertial>
  </link>
  <joint name="torso_lift_joint" type="prismatic">
    <origin xyz="0.0 0.0 0.762" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="torso_lift_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="0.1" lower="0.0" upper="0.345" />
    <dynamics damping="500.0" friction="0.0" />
  </joint>
  <link name="torso_lift_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/torso_v0/torso.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/torso_v0/torso.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.051142 0.003454 -0.2905" />
      <mass value="3.420779" />
      <inertia ixx="0.1045" ixy="-0.000460884801" ixz="0.000101130383" iyy="0.105" iyz="0.002941" izz="0.01284" />
    </inertial>
  </link>
  <joint name="head_pan_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="torso_lift_link" />
    <child link="head_pan_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1.0" lower="-3.84" upper="1.75" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="head_pan_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/head_v0/head_pan.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/head_v0/head_pan.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.001724 -0.001969 -0.028886" />
      <mass value="0.571903" />
      <inertia ixx="0.0009711421" ixy="6.179487e-05" ixz="-0.000113923121" iyy="0.00065335493" iyz="6.9036305e-05" izz="0.000765202576" />
    </inertial>
  </link>
  <joint name="head_tilt_joint" type="revolute">
    <origin xyz="0.02 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="head_pan_link" />
    <child link="head_tilt_link" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-1.57" upper="0.52" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="head_tilt_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/head_v0/head.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/head_v0/head.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.055376 -0.002436 0.117733" />
      <mass value="2.123802" />
      <inertia ixx="0.01941" ixy="-0.000138091054" ixz="0.005035" iyy="0.01498" iyz="8.7492537e-05" izz="0.01167" />
    </inertial>
  </link>
  <joint name="head_l_stereo_camera_joint" type="fixed">
    <origin xyz="0.0262 0.07 0.08" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="head_tilt_link" />
    <child link="head_l_stereo_camera_link" />
  </joint>
  <link name="head_l_stereo_camera_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrb_parts_description/meshes/sensors/head_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="head_l_stereo_camera_gazebo_frame_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
    <parent link="head_l_stereo_camera_link" />
    <child link="head_l_stereo_camera_gazebo_frame" />
  </joint>
  <link name="head_l_stereo_camera_gazebo_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="head_r_stereo_camera_joint" type="fixed">
    <origin xyz="0.0262 -0.07 0.08" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="head_tilt_link" />
    <child link="head_r_stereo_camera_link" />
  </joint>
  <link name="head_r_stereo_camera_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrb_parts_description/meshes/sensors/head_camera.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="head_r_stereo_camera_gazebo_frame_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
    <parent link="head_r_stereo_camera_link" />
    <child link="head_r_stereo_camera_gazebo_frame" />
  </joint>
  <link name="head_r_stereo_camera_gazebo_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="head_rgbd_sensor_joint" type="fixed">
    <origin xyz="-0.0786 0.022 0.248" rpy="-1.5707963267948966 0.0 -1.5707963267948966" />
    <parent link="head_tilt_link" />
    <child link="head_rgbd_sensor_link" />
  </joint>
  <link name="head_rgbd_sensor_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrb_parts_description/meshes/sensors/xtion.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrb_parts_description/meshes/sensors/xtion.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="head_rgbd_sensor_gazebo_frame_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
    <parent link="head_rgbd_sensor_link" />
    <child link="head_rgbd_sensor_gazebo_frame" />
  </joint>
  <link name="head_rgbd_sensor_gazebo_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="arm_lift_joint" type="prismatic">
    <origin xyz="0.0 0.0 0.35" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="arm_lift_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="0.2" lower="0.0" upper="0.69" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="arm_lift_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/arm_v0/shoulder.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/arm_v0/shoulder.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.051549 0.042438 -0.064145" />
      <mass value="1.275819" />
      <inertia ixx="0.004633" ixy="0.000475272668" ixz="-0.002403" iyy="0.008065" iyz="-0.000100268629" izz="0.007672" />
    </inertial>
  </link>
  <joint name="arm_flex_joint" type="revolute">
    <origin xyz="0.141 0.0785 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_lift_link" />
    <child link="arm_flex_link" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="100.0" velocity="1.2" lower="-2.62" upper="0.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="arm_flex_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/arm_v0/arm_flex.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/arm_v0/arm_flex.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000632 0.006404 0.118529" />
      <mass value="1.339295" />
      <inertia ixx="0.007528" ixy="-2.0284207e-05" ixz="-2.2947194e-05" iyy="0.007102" iyz="-9.1796075e-05" izz="0.001552" />
    </inertial>
  </link>
  <joint name="arm_roll_joint" type="revolute">
    <origin xyz="0.005 0.0 0.345" rpy="0.0 0.0 0.0" />
    <parent link="arm_flex_link" />
    <child link="arm_roll_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="2.0" lower="-1.92" upper="3.67" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="arm_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/arm_v0/arm_roll.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/arm_v0/arm_roll.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.006927 0.002039 -0.064837" />
      <mass value="0.247936" />
      <inertia ixx="0.004267" ixy="-1.8322199e-05" ixz="1.7984455e-05" iyy="0.000780923828" iyz="-1.392334e-05" izz="0.00412" />
    </inertial>
  </link>
  <joint name="wrist_flex_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="arm_roll_link" />
    <child link="wrist_flex_link" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="100.0" velocity="1.5" lower="-1.75" upper="1.22" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="wrist_flex_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/wrist_v0/wrist_flex.dae" />
      </geometry>
      <material name="body_sub" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.04" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.02" radius="0.017" />
      </geometry>
      <material name="body_sub" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.04" radius="0.017" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000131 -0.003929 0.00217" />
      <mass value="0.681225" />
      <inertia ixx="7.4353558e-05" ixy="4.94515e-07" ixz="2.2937e-08" iyy="3.8432887e-05" iyz="-2.55576e-06" izz="6.4680918e-05" />
    </inertial>
  </link>
  <joint name="wrist_roll_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="wrist_flex_link" />
    <child link="wrist_ft_sensor_mount_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1.5" lower="-1.92" upper="3.67" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="wrist_ft_sensor_mount_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="wrist_ft_sensor_frame_inverse_joint" type="fixed">
    <origin xyz="0.0 0.0 0.1" rpy="-3.141592653589793 0.0 0.0" />
    <parent link="wrist_ft_sensor_frame" />
    <child link="wrist_roll_link" />
  </joint>
  <link name="wrist_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/wrist_v0/wrist_roll.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/wrist_v0/wrist_roll_1.stl" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/wrist_v0/wrist_roll_2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.001416 -0.001547 0.081689" />
      <mass value="0.761692" />
      <inertia ixx="0.000805633819" ixy="-1.4431758e-05" ixz="2.8204659e-05" iyy="0.000768077165" iyz="2.2460226e-05" izz="0.000453406611" />
    </inertial>
  </link>
  <joint name="wrist_ft_sensor_frame_joint" type="revolute">
    <origin xyz="0.0 0.0 0.1" rpy="3.141592653589793 0.0 0.0" />
    <parent link="wrist_ft_sensor_mount_link" />
    <child link="wrist_ft_sensor_frame" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.5" lower="0.0" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="wrist_ft_sensor_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_palm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.155" rpy="0.0 0.0 3.141592653589793" />
    <parent link="wrist_roll_link" />
    <child link="hand_palm_link" />
  </joint>
  <link name="hand_palm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/hand_v0/palm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/hand_v0/palm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.15" />
      <inertia ixx="0.015" ixy="0.0" ixz="0.0" iyy="0.015" iyz="0.0" izz="0.015" />
    </inertial>
  </link>
  <joint name="hand_motor_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="hand_palm_link" />
    <child link="hand_motor_dummy_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-0.798" upper="1.24" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_motor_dummy_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_l_proximal_joint" type="revolute">
    <origin xyz="-0.031 -0.0245 -0.0165" rpy="0.0 0.0 0.0" />
    <parent link="hand_palm_link" />
    <child link="hand_l_proximal_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-0.798" upper="1.24" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_l_proximal_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_l_spring_proximal_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="hand_l_proximal_link" />
    <child link="hand_l_spring_proximal_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="0.698" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_l_spring_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/hand_v0/l_proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0205 -0.0075 0.04" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.032 0.015 0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.021418 0.00248 0.022688" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_l_mimic_distal_joint" type="revolute">
    <origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0" />
    <parent link="hand_l_spring_proximal_link" />
    <child link="hand_l_mimic_distal_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-0.698" upper="-0.0" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_l_mimic_distal_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_l_distal_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="hand_l_mimic_distal_link" />
    <child link="hand_l_distal_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-1.24" upper="0.798" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_l_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/hand_v0/l_distal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.02 0.018 0.025" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.01 0.032" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.02 0.0015 0.02" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.023 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.011116 0.005679 0.017532" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_l_finger_tip_frame_joint" type="fixed">
    <origin xyz="0.0195 0.0226 0.0409" rpy="-1.5707963267948966 0.0 0.0" />
    <parent link="hand_l_distal_link" />
    <child link="hand_l_finger_tip_frame" />
  </joint>
  <link name="hand_l_finger_tip_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_l_finger_vacuum_frame_joint" type="fixed">
    <origin xyz="0.0065 -0.00953 0.035577" rpy="0.6981317007977318 0.0 0.0" />
    <parent link="hand_l_distal_link" />
    <child link="hand_l_finger_vacuum_frame" />
  </joint>
  <link name="hand_l_finger_vacuum_frame">
    <visual>
      <origin xyz="0.0 0.0 -0.01" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.008 0.008 0.02" />
      </geometry>
      <material name="body_sub" />
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_r_proximal_joint" type="revolute">
    <origin xyz="-0.031 0.0245 -0.0165" rpy="0.0 0.0 0.0" />
    <parent link="hand_palm_link" />
    <child link="hand_r_proximal_link" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-0.798" upper="1.24" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_r_proximal_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_r_spring_proximal_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="hand_r_proximal_link" />
    <child link="hand_r_spring_proximal_link" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="0.698" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_r_spring_proximal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/hand_v0/r_proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0205 0.0075 0.04" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.032 0.015 0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.013203 0.002096 0.023311" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_r_mimic_distal_joint" type="revolute">
    <origin xyz="0.0 0.0 0.07" rpy="0.0 0.0 0.0" />
    <parent link="hand_r_spring_proximal_link" />
    <child link="hand_r_mimic_distal_link" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-0.698" upper="-0.0" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_r_mimic_distal_link">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_r_distal_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="hand_r_mimic_distal_link" />
    <child link="hand_r_distal_link" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="100.0" velocity="1.0" lower="-1.24" upper="0.798" />
    <dynamics damping="0.0001" friction="0.0" />
  </joint>
  <link name="hand_r_distal_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://hsrc_description/meshes/hand_v0/r_distal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.02 -0.018 0.025" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.01 0.032" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.02 -0.0015 0.02" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.04 0.023 0.04" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.014256 -0.008321 0.015591" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_r_finger_tip_frame_joint" type="fixed">
    <origin xyz="0.0195 -0.0226 0.0409" rpy="1.5707963267948966 0.0 0.0" />
    <parent link="hand_r_distal_link" />
    <child link="hand_r_finger_tip_frame" />
  </joint>
  <link name="hand_r_finger_tip_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_camera_frame_joint" type="fixed">
    <origin xyz="0.026 0.0 0.0034" rpy="0.0 0.0 0.0" />
    <parent link="hand_palm_link" />
    <child link="hand_camera_frame" />
  </joint>
  <link name="hand_camera_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="hand_camera_gazebo_frame_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 -1.5707963267948966 0.0" />
    <parent link="hand_camera_frame" />
    <child link="hand_camera_gazebo_frame" />
  </joint>
  <link name="hand_camera_gazebo_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
</robot>
