<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 605e31cb1a0034fe -->
<robot name="j2s7s300">
  <link name="root" />
  <link name="world" />
  <joint name="connect_root_and_world" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="root" />
  </joint>
  <material name="carbon_fiber">
    <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1.0" />
  </material>
  <link name="j2s7s300_link_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/base.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/base.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.1255" rpy="0.0 0.0 0.0" />
      <mass value="0.46784" />
      <inertia ixx="0.000951270861568" ixy="0.0" ixz="0.0" iyy="0.000951270861568" iyz="0.0" izz="0.00037427200000000004" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_base" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="root" />
    <child link="j2s7s300_link_base" />
  </joint>
  <link name="j2s7s300_link_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/shoulder.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/shoulder.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.002 -0.0605" />
      <mass value="0.7477" />
      <inertia ixx="0.0015203172520400004" ixy="0.0" ixz="0.0" iyy="0.0015203172520400004" iyz="0.0" izz="0.00059816" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_1" type="continuous">
    <origin xyz="0.0 0.0 0.15675" rpy="0.0 3.141592653589793 0.0" />
    <parent link="j2s7s300_link_base" />
    <child link="j2s7s300_link_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="40.0" velocity="0.6283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/arm_half_1.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/arm_half_1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.103563213 0.0" />
      <mass value="0.8447" />
      <inertia ixx="0.00247073761701" ixy="0.0" ixz="0.0" iyy="0.000380115" iyz="0.0" izz="0.00247073761701" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_2" type="revolute">
    <origin xyz="0.0 0.0016 -0.11875" rpy="-1.5707963267948966 0.0 3.141592653589793" />
    <parent link="j2s7s300_link_1" />
    <child link="j2s7s300_link_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="80.0" velocity="0.6283185307179586" lower="0.8203047484373349" upper="5.462880558742252" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/arm_half_2.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/arm_half_2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.1022447445" />
      <mass value="0.8447" />
      <inertia ixx="0.00247073761701" ixy="0.0" ixz="0.0" iyy="0.00247073761701" iyz="0.0" izz="0.000380115" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_3" type="continuous">
    <origin xyz="0.0 -0.205 0.0" rpy="-1.5707963267948966 0.0 0.0" />
    <parent link="j2s7s300_link_2" />
    <child link="j2s7s300_link_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="40.0" velocity="0.6283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/forearm.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_big.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/forearm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.081 -0.0086" />
      <mass value="0.6763" />
      <inertia ixx="0.0014202243190800001" ixy="0.0" ixz="0.0" iyy="0.000304335" iyz="0.0" izz="0.0014202243190800001" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_4" type="revolute">
    <origin xyz="0.0 0.0 -0.205" rpy="1.5707963267948966 0.0 3.141592653589793" />
    <parent link="j2s7s300_link_3" />
    <child link="j2s7s300_link_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="40.0" velocity="0.6283185307179586" lower="0.5235987755982988" upper="5.759586531581287" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_small.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/wrist_spherical_1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0028848942 -0.0541932613" />
      <mass value="0.463" />
      <inertia ixx="0.0004321316048000001" ixy="0.0" ixz="0.0" iyy="0.0004321316048000001" iyz="0.0" izz="9.260000000000001e-05" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_5" type="continuous">
    <origin xyz="0.0 0.2073 -0.0114" rpy="-1.5707963267948966 0.0 3.141592653589793" />
    <parent link="j2s7s300_link_4" />
    <child link="j2s7s300_link_5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="0.8377580409572781" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_small.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/wrist_spherical_2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0497208855 -0.0028562765" />
      <mass value="0.463" />
      <inertia ixx="0.0004321316048000001" ixy="0.0" ixz="0.0" iyy="9.260000000000001e-05" iyz="0.0" izz="0.0004321316048000001" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_6" type="revolute">
    <origin xyz="0.0 0.0 -0.10375" rpy="1.5707963267948966 0.0 3.141592653589793" />
    <parent link="j2s7s300_link_5" />
    <child link="j2s7s300_link_6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="0.8377580409572781" lower="1.1344640137963142" upper="5.148721293383272" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_7">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/hand_3finger.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/ring_small.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/hand_3finger.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.06" />
      <mass value="0.99" />
      <inertia ixx="0.00034532361869999995" ixy="0.0" ixz="0.0" iyy="0.00034532361869999995" iyz="0.0" izz="0.0005815999999999999" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_7" type="continuous">
    <origin xyz="0.0 0.10375 0.0" rpy="-1.5707963267948966 0.0 3.141592653589793" />
    <parent link="j2s7s300_link_6" />
    <child link="j2s7s300_link_7" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="0.8377580409572781" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_end_effector" />
  <joint name="j2s7s300_joint_end_effector" type="fixed">
    <origin xyz="0.0 0.0 -0.16" rpy="3.141592653589793 0.0 1.5707963267948966" />
    <parent link="j2s7s300_link_7" />
    <child link="j2s7s300_end_effector" />
  </joint>
  <link name="j2s7s300_link_finger_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_finger_1" type="revolute">
    <origin xyz="0.00279 0.03126 -0.11467" rpy="-1.7047873384941834 0.6476144647144773 1.67317415161155" />
    <parent link="j2s7s300_link_7" />
    <child link="j2s7s300_link_finger_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.0" velocity="1.0" lower="0.0" upper="1.51" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_finger_tip_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_finger_tip_1" type="revolute">
    <origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
    <parent link="j2s7s300_link_finger_1" />
    <child link="j2s7s300_link_finger_tip_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.0" velocity="1.0" lower="0.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_finger_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_finger_2" type="revolute">
    <origin xyz="0.02226 -0.02707 -0.11482" rpy="-1.570796327 0.649262481663582 -1.38614049188413" />
    <parent link="j2s7s300_link_7" />
    <child link="j2s7s300_link_finger_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.0" velocity="1.0" lower="0.0" upper="1.51" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_finger_tip_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_finger_tip_2" type="revolute">
    <origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
    <parent link="j2s7s300_link_finger_2" />
    <child link="j2s7s300_link_finger_tip_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.0" velocity="1.0" lower="0.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_finger_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_finger_3" type="revolute">
    <origin xyz="-0.02226 -0.02707 -0.11482" rpy="-1.570796327 0.649262481663582 -1.75545216211587" />
    <parent link="j2s7s300_link_7" />
    <child link="j2s7s300_link_finger_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.0" velocity="1.0" lower="0.0" upper="1.51" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="j2s7s300_link_finger_tip_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae" />
      </geometry>
      <material name="carbon_fiber" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://kinova_description/meshes/finger_distal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.022 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="7.8999684e-07" ixy="0.0" ixz="0.0" iyy="7.8999684e-07" iyz="0.0" izz="8e-08" />
    </inertial>
  </link>
  <joint name="j2s7s300_joint_finger_tip_3" type="revolute">
    <origin xyz="0.044 -0.003 0.0" rpy="0.0 0.0 0.0" />
    <parent link="j2s7s300_link_finger_3" />
    <child link="j2s7s300_link_finger_tip_3" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.0" velocity="1.0" lower="0.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
