<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content c1cca93813b0ff54 -->
<robot name="pepper">
  <link name="base_link" />
  <joint name="HeadYaw" type="revolute">
    <origin xyz="-0.038 0.0 0.3089" rpy="0.0 0.0 0.0" />
    <parent link="torso" />
    <child link="Neck" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="Neck">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HeadYaw.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00207 0.0 -0.02636" rpy="0.0 0.0 0.0" />
      <mass value="0.27391" />
      <inertia ixx="0.000343501" ixy="0.0" ixz="-1.88563e-05" iyy="0.000493898" iyz="2.09863e-06" izz="0.000215252" />
    </inertial>
  </link>
  <joint name="HeadPitch" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="Neck" />
    <child link="Head" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="2.666" velocity="9.22756" lower="-0.706858" upper="0.43" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="Head">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HeadPitch.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00312 0.0 0.11152" rpy="0.0 0.0 0.0" />
      <mass value="1.51893" />
      <inertia ixx="0.00597209" ixy="0.0" ixz="0.000125138" iyy="0.0059054" iyz="4.3428e-07" izz="0.00570374" />
    </inertial>
  </link>
  <joint name="HipRoll" type="revolute">
    <origin xyz="0.0 0.0 0.079" rpy="0.0 0.0 0.0" />
    <parent link="Hip" />
    <child link="torso" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="10.1884" velocity="2.27032" lower="-0.514872" upper="0.514872" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="Hip">
    <visual>
      <origin xyz="0.0 0.0 0.079" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HipRoll.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.079" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HipRoll_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00032 0.0 -0.06039" rpy="0.0 0.0 0.0" />
      <mass value="1.02338" />
      <inertia ixx="0.00502422" ixy="0.0" ixz="-2.54911e-05" iyy="0.00640971" iyz="0.000159449" izz="0.00441082" />
    </inertial>
  </link>
  <joint name="HipPitch" type="revolute">
    <origin xyz="0.0 0.0 0.268" rpy="0.0 0.0 0.0" />
    <parent link="Pelvis" />
    <child link="Hip" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="19.787" velocity="2.93276" lower="-1.03847" upper="1.03847" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="Pelvis">
    <visual>
      <origin xyz="0.0 0.0 0.268" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HipPitch.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.268" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/HipPitch_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00237 0.0 -0.09654" rpy="0.0 0.0 0.0" />
      <mass value="2.45917" />
      <inertia ixx="0.034351" ixy="0.0" ixz="0.000223034" iyy="0.0303122" iyz="-8.37542e-05" izz="0.0143771" />
    </inertial>
  </link>
  <joint name="KneePitch" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="Tibia" />
    <child link="Pelvis" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="27.702" velocity="2.93276" lower="-0.514872" upper="0.514872" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="Tibia">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/KneePitch.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/KneePitch_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00220451 0.0 -0.185729" rpy="0.0 0.0 0.0" />
      <mass value="11.6015" />
      <inertia ixx="0.129229" ixy="-0.000401943" ixz="0.00048556" iyy="0.122839" iyz="-1.01666e-08" izz="0.108168" />
    </inertial>
  </link>
  <link name="torso">
    <visual>
      <origin xyz="2e-05 0.0 0.139" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/Torso.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="2e-05 0.0 0.139" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/Torso_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00322 0.0 -0.01029" rpy="0.0 0.0 0.0" />
      <mass value="3.99533" />
      <inertia ixx="0.0452761" ixy="0.0" ixz="0.00499091" iyy="0.0432702" iyz="-0.000266886" izz="0.0258881" />
    </inertial>
  </link>
  <joint name="LShoulderPitch" type="revolute">
    <origin xyz="-0.057 0.14974 0.22582" rpy="0.0 0.0 0.0" />
    <parent link="torso" />
    <child link="LShoulder" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LShoulder">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LShoulderPitch.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00018 -0.01856 0.00099" rpy="0.0 0.0 0.0" />
      <mass value="0.3125" />
      <inertia ixx="0.000361198" ixy="-1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="-5.68878e-06" izz="0.000399194" />
    </inertial>
  </link>
  <joint name="LShoulderRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LShoulder" />
    <child link="LBicep" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.666" velocity="9.22756" lower="0.00872665" upper="1.56207" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LBicep">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LShoulderRoll.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.08151 0.01284 -0.01017" rpy="0.0 0.0 0.0" />
      <mass value="0.50527" />
      <inertia ixx="0.000500872" ixy="-3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="9.06813e-06" izz="0.00115718" />
    </inertial>
  </link>
  <joint name="LElbowYaw" type="revolute">
    <origin xyz="0.1812 0.015 0.00013" rpy="0.0 -0.157079 0.0" />
    <parent link="LBicep" />
    <child link="LElbow" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LElbow">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LElbowYaw.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LElbowYaw_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02297 -0.00019 0.00119" rpy="0.0 0.0 0.0" />
      <mass value="0.27495" />
      <inertia ixx="0.000122971" ixy="9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="-1.98925e-06" izz="0.000303047" />
    </inertial>
  </link>
  <joint name="LElbowRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LElbow" />
    <child link="LForeArm" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.666" velocity="9.22756" lower="-1.56207" upper="-0.00872665" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LForeArm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LElbowRoll.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0593 0.00271 -0.01014" rpy="0.0 0.0 0.0" />
      <mass value="0.16579" />
      <inertia ixx="0.00156513" ixy="1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="-1.7619e-07" izz="0.000273081" />
    </inertial>
  </link>
  <joint name="LWristYaw" type="revolute">
    <origin xyz="0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="LForeArm" />
    <child link="l_wrist" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.2014" velocity="17.3835" lower="-1.82387" upper="1.82387" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_wrist">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LWristYaw.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LWristYaw_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03536 -0.00072 -0.00207" rpy="0.0 0.0 0.0" />
      <mass value="0.27555" />
      <inertia ixx="0.000151643" ixy="1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="-3.13715e-06" izz="0.000456172" />
    </inertial>
  </link>
  <joint name="LHand" type="revolute">
    <origin xyz="0.025 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_wrist" />
    <child link="l_gripper" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.144" velocity="12.56" lower="0.0" upper="1.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_gripper">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RShoulderPitch" type="revolute">
    <origin xyz="-0.057 -0.14974 0.22582" rpy="0.0 0.0 0.0" />
    <parent link="torso" />
    <child link="RShoulder" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RShoulder">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RShoulderPitch.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00018 0.01856 0.00099" rpy="0.0 0.0 0.0" />
      <mass value="0.3125" />
      <inertia ixx="0.000361198" ixy="1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="5.68878e-06" izz="0.000399194" />
    </inertial>
  </link>
  <joint name="RShoulderRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RShoulder" />
    <child link="RBicep" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.666" velocity="9.22756" lower="-1.56207" upper="-0.00872665" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RBicep">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RShoulderRoll.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.08151 -0.01284 -0.01017" rpy="0.0 0.0 0.0" />
      <mass value="0.50527" />
      <inertia ixx="0.000500872" ixy="3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="-9.06813e-06" izz="0.00115718" />
    </inertial>
  </link>
  <joint name="RElbowYaw" type="revolute">
    <origin xyz="0.1812 -0.015 0.00013" rpy="0.0 -0.157079 0.0" />
    <parent link="RBicep" />
    <child link="RElbow" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="5.428" velocity="7.33998" lower="-2.08567" upper="2.08567" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RElbow">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RElbowYaw.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RElbowYaw_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02297 0.00019 0.00119" rpy="0.0 0.0 0.0" />
      <mass value="0.27495" />
      <inertia ixx="0.000122971" ixy="-9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="1.98925e-06" izz="0.000303047" />
    </inertial>
  </link>
  <joint name="RElbowRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RElbow" />
    <child link="RForeArm" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="2.666" velocity="9.22756" lower="0.00872665" upper="1.56207" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RForeArm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RElbowRoll.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0593 -0.00271 -0.01014" rpy="0.0 0.0 0.0" />
      <mass value="0.16579" />
      <inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081" />
    </inertial>
  </link>
  <joint name="RWristYaw" type="revolute">
    <origin xyz="0.15 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="RForeArm" />
    <child link="r_wrist" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.2014" velocity="17.3835" lower="-1.82387" upper="1.82387" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_wrist">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RWristYaw.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RWristYaw_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03536 0.00072 -0.00207" rpy="0.0 0.0 0.0" />
      <mass value="0.27555" />
      <inertia ixx="0.000151643" ixy="-1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="3.13715e-06" izz="0.000456172" />
    </inertial>
  </link>
  <joint name="RHand" type="revolute">
    <origin xyz="0.025 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_wrist" />
    <child link="r_gripper" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.144" velocity="12.56" lower="0.0" upper="1.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_gripper">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <link name="RFinger41_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger41.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger41_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger41" type="continuous">
    <origin xyz="0.074 -0.0309 0.0" rpy="1.74402 1.04064 -0.0683394" />
    <parent link="r_wrist" />
    <child link="RFinger41_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger42_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger42.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger42_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger42" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger41_link" />
    <child link="LFinger42_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger12_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger12.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger12_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger12" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger11_link" />
    <child link="RFinger12_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger33_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger33.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger33_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger33" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger32_link" />
    <child link="LFinger33_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger31_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger31.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger31_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger31" type="continuous">
    <origin xyz="0.0833 -0.0123 0.004" rpy="1.67523 1.04483 0.029316" />
    <parent link="r_wrist" />
    <child link="RFinger31_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger21_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger21.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger21_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger21" type="continuous">
    <origin xyz="0.0873 -0.0073 0.006" rpy="1.5708 1.0472 -0.061086" />
    <parent link="l_wrist" />
    <child link="LFinger21_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger32_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger32.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger32_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger32" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger31_link" />
    <child link="RFinger32_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger13_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger13.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger13_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger13" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger12_link" />
    <child link="LFinger13_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger32_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger32.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger32_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger32" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger31_link" />
    <child link="LFinger32_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger11_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger11.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger11_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger11" type="continuous">
    <origin xyz="0.0821 -0.0268 0.004" rpy="1.74402 1.04064 -0.0334335" />
    <parent link="l_wrist" />
    <child link="LFinger11_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger22_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger22.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger22_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger22" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger21_link" />
    <child link="RFinger22_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger13_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger13.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger13_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger13" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger12_link" />
    <child link="RFinger13_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger22_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger22.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger22_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger22" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger21_link" />
    <child link="LFinger22_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger21_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger21.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger21_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger21" type="continuous">
    <origin xyz="0.0873 0.0073 0.006" rpy="1.5708 1.0472 0.061086" />
    <parent link="r_wrist" />
    <child link="RFinger21_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger41_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger41.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger41_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger41" type="continuous">
    <origin xyz="0.074 0.0309 0.0" rpy="1.39757 1.04064 0.0683394" />
    <parent link="l_wrist" />
    <child link="LFinger41_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger12_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger12.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger12_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger12" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger11_link" />
    <child link="LFinger12_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger23_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger23.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger23_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger23" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger22_link" />
    <child link="RFinger23_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger11_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger11.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger11_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger11" type="continuous">
    <origin xyz="0.0821 0.0268 0.004" rpy="1.39757 1.04064 0.0334335" />
    <parent link="r_wrist" />
    <child link="RFinger11_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger23_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger23.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger23_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger23" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger22_link" />
    <child link="LFinger23_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger43_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger43.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger43_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger43" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LFinger42_link" />
    <child link="LFinger43_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger43_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger43.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger43_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger43" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger42_link" />
    <child link="RFinger43_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger42_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger42.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger42_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger42" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger41_link" />
    <child link="RFinger42_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LFinger31_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger31.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LFinger31_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LFinger31" type="continuous">
    <origin xyz="0.0833 0.0123 0.004" rpy="1.46636 1.04483 -0.029314" />
    <parent link="l_wrist" />
    <child link="LFinger31_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RFinger33_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger33.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RFinger33_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RFinger33" type="continuous">
    <origin xyz="0.018 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RFinger32_link" />
    <child link="RFinger33_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LThumb1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LThumb1.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LThumb1_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LThumb1" type="continuous">
    <origin xyz="0.0482 -0.0357 -0.0199" rpy="-1.95836 0.60626 0.533978" />
    <parent link="l_wrist" />
    <child link="LThumb1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RThumb2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RThumb2.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RThumb2_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RThumb2" type="continuous">
    <origin xyz="0.022 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="RThumb1_link" />
    <child link="RThumb2_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="RThumb1_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RThumb1.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/RThumb1_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="RThumb1" type="continuous">
    <origin xyz="0.0482 0.0357 -0.0199" rpy="-1.18323 0.60626 -0.533978" />
    <parent link="r_wrist" />
    <child link="RThumb1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="LThumb2_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LThumb2.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/LThumb2_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="2e-06" />
      <inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
    </inertial>
  </link>
  <joint name="LThumb2" type="continuous">
    <origin xyz="0.022 0.0 0.0" rpy="0.0 0.0 -1.0472" />
    <parent link="LThumb1_link" />
    <child link="LThumb2_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="WheelFL_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/WheelFL.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/WheelFL_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.58028" />
      <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585" />
    </inertial>
  </link>
  <joint name="WheelFL" type="fixed">
    <origin xyz="0.09 0.155 -0.264" rpy="0.0 0.0 1.07517" />
    <parent link="Tibia" />
    <child link="WheelFL_link" />
  </joint>
  <link name="WheelB_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/WheelB.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/WheelB_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.58028" />
      <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585" />
    </inertial>
  </link>
  <joint name="WheelB" type="fixed">
    <origin xyz="-0.17 0.0 -0.264" rpy="0.0 0.0 -3.14159" />
    <parent link="Tibia" />
    <child link="WheelB_link" />
  </joint>
  <link name="WheelFR_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/WheelFR.dae" scale="0.1 0.1 0.1" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/WheelFR_0.10.stl" scale="0.1 0.1 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.58028" />
      <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585" />
    </inertial>
  </link>
  <joint name="WheelFR" type="fixed">
    <origin xyz="0.09 -0.155 -0.264" rpy="0.0 0.0 -1.07517" />
    <parent link="Tibia" />
    <child link="WheelFR_link" />
  </joint>
  <joint name="fixed_base" type="fixed">
    <origin xyz="0.0 0.0 0.334" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="Tibia" />
  </joint>
  <link name="CameraTop_frame" />
  <joint name="CameraTop_sensor_fixedjoint" type="fixed">
    <origin xyz="0.08601 0.0 0.16284" rpy="0.0 0.0 0.0" />
    <parent link="Head" />
    <child link="CameraTop_frame" />
  </joint>
  <link name="CameraTop_optical_frame" />
  <joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
    <parent link="CameraTop_frame" />
    <child link="CameraTop_optical_frame" />
  </joint>
  <link name="RealSense_screw_frame">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/d435.dae" />
      </geometry>
    </visual>
  </link>
  <joint name="RealSense_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0 0.017" rpy="0.0 0.0 0.0" />
    <parent link="CameraTop_frame" />
    <child link="RealSense_screw_frame" />
  </joint>
  <link name="RealSence_color_frame" />
  <joint name="RealSense_color_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0325 0.0125" rpy="0.0 0.0 0.0" />
    <parent link="RealSense_screw_frame" />
    <child link="RealSence_color_frame" />
  </joint>
  <link name="RealSence_color_optical_frame" />
  <joint name="RealSense_color_optical_frame_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796 0.0 -1.570796" />
    <parent link="RealSence_color_frame" />
    <child link="RealSence_color_optical_frame" />
  </joint>
  <link name="RealSence_depth_frame" />
  <joint name="RealSense_depth_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0175 0.0125" rpy="0.0 0.0 0.0" />
    <parent link="RealSense_screw_frame" />
    <child link="RealSence_depth_frame" />
  </joint>
  <link name="RealSence_depth_optical_frame" />
  <joint name="RealSense_depth_optical_frame_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.570796 0.0 -1.570796" />
    <parent link="RealSence_depth_frame" />
    <child link="RealSence_depth_optical_frame" />
  </joint>
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="dark_grey">
    <color rgba="0.1 0.1 0.1 1.0" />
  </material>
  <material name="grey">
    <color rgba="0.6 0.6 0.6 1.0" />
  </material>
  <material name="white">
    <color rgba="0.9 0.9 0.9 1.0" />
  </material>
  <link name="camera_body">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/camera_body.stl" />
      </geometry>
      <material name="white" />
    </visual>
  </link>
  <link name="camera_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/camera_base.stl" />
      </geometry>
      <material name="grey" />
    </visual>
  </link>
  <link name="camera_visor">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/camera_visor.stl" />
      </geometry>
      <material name="black" />
    </visual>
  </link>
  <joint name="camera_base_to_body" type="fixed">
    <origin xyz="-0.0757 0.0 0.008" rpy="0.0 0.0 0.0" />
    <parent link="camera_base" />
    <child link="camera_body" />
  </joint>
  <joint name="camera_base_to_visor" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="camera_base" />
    <child link="camera_visor" />
  </joint>
  <joint name="camera_realsense_to_azure" type="fixed">
    <origin xyz="0.015 0.0005 0.045" rpy="0.0 0.0 0.0" />
    <parent link="RealSense_screw_frame" />
    <child link="camera_base" />
  </joint>
  <link name="kinect_depth_optical_frame" />
  <joint name="kinect_depth_fixedjoint" type="fixed">
    <origin xyz="0.0 0.0 0.0018" rpy="-1.675 0.0 -1.57" />
    <parent link="camera_base" />
    <child link="kinect_depth_optical_frame" />
  </joint>
  <link name="kinect_imu_frame" />
  <joint name="kinect_imu_fixedjoint" type="fixed">
    <origin xyz="-0.051074 -0.0033404 0.0027" rpy="3.14 0.0 3.14" />
    <parent link="camera_base" />
    <child link="kinect_imu_frame" />
  </joint>
  <link name="t265">
    <visual>
      <origin xyz="0.0 0.0 0.01225" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://pepper_description/meshes/t265.stl" />
      </geometry>
      <material name="grey" />
    </visual>
  </link>
  <joint name="d435_to_t265" type="fixed">
    <origin xyz="0.0 0.0 0.064" rpy="0.0 0.0 0.0" />
    <parent link="RealSense_screw_frame" />
    <child link="t265" />
  </joint>
  <link name="t265_pose" />
  <joint name="t265_pose_frame_joint" type="fixed">
    <origin xyz="0.00625 0.0 0.01225" rpy="0.0 0.0 0.0" />
    <parent link="t265" />
    <child link="t265_pose" />
  </joint>
  <link name="tablet" />
  <joint name="tablet_fixedjoint" type="fixed">
    <origin xyz="0.0839249 0.0 0.2" rpy="0.0 -0.523599 0.0" />
    <parent link="torso" />
    <child link="tablet" />
  </joint>
</robot>
