<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 1e9f4b2870b08811 -->
<robot name="open_manipulator_x">
  <link name="world" />
  <joint name="world_fixed" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="link1" />
  </joint>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <link name="link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link1.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link1.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00030876154 0.0 -0.00012176461" />
      <mass value="0.079119962" />
      <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07" iyy="2.1898364e-05" iyz="0.0" izz="1.9267361e-05" />
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <origin xyz="0.012 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link1" />
    <child link="link2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="4.8" lower="-3.141592653589793" upper="3.141592653589793" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link2">
    <visual>
      <origin xyz="0.0 0.0 0.019" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link2.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.019" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link2.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0003018487 0.00054043684 0.047433463999999995" />
      <mass value="0.098406837" />
      <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07" iyy="3.2689329e-05" iyz="2.8511935e-08" izz="1.885032e-05" />
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <origin xyz="0.0 0.0 0.0595" rpy="0.0 0.0 0.0" />
    <parent link="link2" />
    <child link="link3" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-1.5" upper="1.5" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link3.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link3.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.010308393 0.00037743363 0.10170197" />
      <mass value="0.13850917" />
      <inertia ixx="0.00033055381" ixy="-9.7940978e-08" ixz="-3.8505711e-05" iyy="0.00034290447" iyz="-1.5717516e-06" izz="6.0346498e-05" />
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <origin xyz="0.024 0.0 0.128" rpy="0.0 0.0 0.0" />
    <parent link="link3" />
    <child link="link4" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-1.5" upper="1.4" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link4.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link4.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.09090959 0.00038929816 0.00022413279" />
      <mass value="0.13274562" />
      <inertia ixx="3.0654178e-05" ixy="-1.2764155e-06" ixz="-2.6874417e-07" iyy="0.00024230292" iyz="1.155955e-08" izz="0.00025155057" />
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <origin xyz="0.124 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link4" />
    <child link="link5" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-1.7" upper="1.97" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link5.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/link5.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.044206755 3.6839985e-07 0.0089142216" />
      <mass value="0.14327573" />
      <inertia ixx="8.0870749e-05" ixy="0.0" ixz="-1.0157896e-06" iyy="7.5980465e-05" iyz="0.0" izz="9.3127351e-05" />
    </inertial>
  </link>
  <joint name="gripper_left_joint" type="prismatic">
    <origin xyz="0.0817 0.021 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="gripper_left_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-0.011" upper="0.02" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="gripper_left_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/gripper_left_palm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/gripper_left_palm.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="gripper_right_joint" type="prismatic">
    <origin xyz="0.0817 -0.021 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="gripper_right_link" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="1000.0" velocity="4.8" lower="-0.011" upper="0.02" />
    <dynamics damping="0.7" friction="0.0" />
  </joint>
  <link name="gripper_right_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/gripper_right_palm.stl" scale="0.001 0.001 0.001" />
      </geometry>
      <material name="grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/open_manipulator_x/gripper_right_palm.stl" scale="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="end_effector_joint" type="fixed">
    <origin xyz="0.126 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link5" />
    <child link="end_effector_link" />
  </joint>
  <material name="red">
    <color rgba="1.0 0.0 0.0 1.0" />
  </material>
  <link name="end_effector_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
      <material name="red" />
    </visual>
  </link>
</robot>
