<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 4fc5fd17cd8ee605 -->
<robot name="openarm_v20">
  <link name="world" />
  <material name="openarm_body_link0_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
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        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/body/visual/body_link0.dae" scale="0.001 0.001 0.001" />
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      <material name="openarm_body_link0_material" />
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    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/body/collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />
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      <mass value="13.89" />
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  </link>
  <joint name="openarm_body_link0_mount_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="openarm_body_link0" />
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  <material name="openarm_left_base_link_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
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  <link name="openarm_left_base_link">
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      <material name="openarm_left_base_link_material" />
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    <collision>
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  <joint name="openarm_left_joint1" type="revolute">
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  <joint name="openarm_right_joint1" type="revolute">
    <origin xyz="0.0 -0.0625 0.0" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_base_link" />
    <child link="openarm_right_link1" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="40.0" velocity="16.755" lower="-1.3963" upper="3.4907" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="openarm_right_link2_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link2.dae" />
      </geometry>
      <material name="openarm_right_link2_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0247184924346635 7.60578399428002e-08 -0.0312643102292087" rpy="0.0 0.0 0.0" />
      <mass value="0.2775092746011571" />
      <inertia ixx="0.000153588833784759" ixy="-2.94422592188677e-10" ixz="5.21056076779068e-06" iyy="0.000113062180225725" iyz="3.75816911469744e-10" izz="8.22999351863579e-05" />
    </inertial>
  </link>
  <joint name="openarm_right_joint2" type="revolute">
    <origin xyz="0.0 -0.0600000000000001 0.0" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_link1" />
    <child link="openarm_right_link2" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="40.0" velocity="16.755" lower="-0.17453" upper="3.3161" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="openarm_right_link3_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_link3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link3.dae" />
      </geometry>
      <material name="openarm_right_link3_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00300861804638783 -0.000514813312550808 -0.109368241429434" rpy="0.0 0.0 0.0" />
      <mass value="1.073863338202347" />
      <inertia ixx="0.00128939636591746" ixy="-2.29951046666492e-07" ixz="-6.76161926984358e-05" iyy="0.00114018992179734" iyz="-1.06260802872572e-05" izz="0.000559765478676303" />
    </inertial>
  </link>
  <joint name="openarm_right_joint3" type="revolute">
    <origin xyz="0.0 0.0 -0.0662500000000008" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_link2" />
    <child link="openarm_right_link3" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="27.0" velocity="5.4454" lower="-1.5708" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="openarm_right_link4_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_link4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link4.dae" />
      </geometry>
      <material name="openarm_right_link4_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00310326243752606 -0.00136538979048502 -0.0574601379354351" rpy="0.0 0.0 0.0" />
      <mass value="0.6348534566833373" />
      <inertia ixx="0.0004690036047182" ixy="5.63626910265645e-06" ixz="-1.77877991597693e-06" iyy="0.000433926270522842" iyz="3.41757797773822e-06" izz="0.000245211429759716" />
    </inertial>
  </link>
  <joint name="openarm_right_joint4" type="revolute">
    <origin xyz="0.0 0.0 -0.15375" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_link3" />
    <child link="openarm_right_link4" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="27.0" velocity="5.4454" lower="0.0" upper="2.4435" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="openarm_right_link5_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_link5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link5.dae" />
      </geometry>
      <material name="openarm_right_link5_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.000737188580130584 -0.000412406544351845 -0.047093829077211" rpy="0.0 0.0 0.0" />
      <mass value="0.6156588026168502" />
      <inertia ixx="0.000279653368752989" ixy="3.31745289972445e-06" ixz="7.68097311403736e-07" iyy="0.000334599623120095" iyz="-1.49934409279756e-07" izz="0.000176662464388138" />
    </inertial>
  </link>
  <joint name="openarm_right_joint5" type="revolute">
    <origin xyz="0.0 0.0 -0.0955000000000005" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_link4" />
    <child link="openarm_right_link5" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="7.0" velocity="20.944" lower="-1.5708" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="openarm_right_link6_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_link6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/visual/link6.dae" />
      </geometry>
      <material name="openarm_right_link6_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/robot/openarm_v2.0/meshes/arm/collision/link6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.27438423593244e-05 0.00068649602098908 5.44000494765995e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.475202773187987" />
      <inertia ixx="0.000179275941446964" ixy="6.58439346712228e-08" ixz="-3.37101167120887e-08" iyy="0.000136247512758587" iyz="3.32253600295544e-08" izz="0.000135340695937386" />
    </inertial>
  </link>
  <joint name="openarm_right_joint6" type="revolute">
    <origin xyz="0.0 0.0 -0.120499999999998" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_link5" />
    <child link="openarm_right_link6" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="20.944" lower="-0.7854" upper="0.7854" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="openarm_right_joint7" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="openarm_right_link6" />
    <child link="openarm_right_ee_base_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="7.0" velocity="20.944" lower="-1.5708" upper="1.5708" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="openarm_right_ee_base_link_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_ee_base_link">
    <visual>
      <origin xyz="0.0205 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/ee_base_link.dae" />
      </geometry>
      <material name="openarm_right_ee_base_link_material" />
    </visual>
    <collision>
      <origin xyz="0.0205 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/ee_base_link.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0137902 0.0084073 -0.05938" rpy="0.0 -0.0 0.0" />
      <mass value="0.52832" />
      <inertia ixx="0.00021911" ixy="4.1683e-06" ixz="1.4043e-06" iyy="0.00015627" iyz="-1.5124e-06" izz="0.0001659" />
    </inertial>
  </link>
  <material name="openarm_right_ee_link1_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_ee_link1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_inner.dae" />
      </geometry>
      <material name="openarm_right_ee_link1_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_inner.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0124990911725494 0.00176592789915655 -0.0241663193888537" rpy="0.0 0.0 0.0" />
      <mass value="0.125979047366671" />
      <inertia ixx="3.61105363396623e-05" ixy="1.35880208293387e-06" ixz="7.13916341634141e-06" iyy="3.62137424319396e-05" iyz="-3.60343788693423e-06" izz="1.74958961632907e-05" />
    </inertial>
  </link>
  <material name="openarm_right_ee_link2_material">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1.0" />
  </material>
  <link name="openarm_right_ee_link2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/visual/finger_outer.dae" />
      </geometry>
      <material name="openarm_right_ee_link2_material" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://openarm_description/assets/end_effector/pinch_gripper/meshes/collision/finger_outer.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.012796 -0.0020183 -0.026792" rpy="0.0 0.0 0.0" />
      <mass value="0.11372" />
      <inertia ixx="3.4565e-05" ixy="-1.3392e-06" ixz="7.1576e-06" iyy="3.5306e-05" iyz="3.7172e-06" izz="1.6571e-05" />
    </inertial>
  </link>
  <joint name="openarm_right_finger_joint1" type="revolute">
    <origin xyz="-0.0014300000000005003 0.0180000000000009 -0.0680000000000174" rpy="0.0 -0.0 0.0" />
    <parent link="openarm_right_ee_base_link" />
    <child link="openarm_right_ee_link1" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="7.0" velocity="5.0" lower="-0.7854" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="openarm_right_finger_joint2" type="revolute">
    <origin xyz="-0.0014300000000005003 -0.0180000000000012 -0.0680000000000215" rpy="0.0 -0.0 0.0" />
    <parent link="openarm_right_ee_base_link" />
    <child link="openarm_right_ee_link2" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="7.0" velocity="5.0" lower="-0.7854" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
