<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 506aa8bec1151ed5 -->
<robot name="pr2">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/base_L.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/base_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.061 0.0 0.1465" />
      <mass value="116.0" />
      <inertia ixx="5.652232699207" ixy="-0.009719934438" ixz="1.293988226423" iyy="5.669473158652" iyz="-0.007379583694" izz="3.683196351726" />
    </inertial>
  </link>
  <link name="base_footprint">
    <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>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.071" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1.0" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0.0 0.0 0.051" rpy="0.0 0.0 0.0" />
    <parent link="base_footprint" />
    <child link="base_link" />
  </joint>
  <link name="base_bellow_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.05 0.37 0.3" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.05 0.37 0.3" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="1.0" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="base_bellow_joint" type="fixed">
    <origin xyz="-0.29 0.0 0.8" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="base_bellow_link" />
  </joint>
  <joint name="fl_caster_rotation_joint" type="continuous">
    <origin xyz="0.2246 0.2246 0.0282" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="fl_caster_rotation_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.5" velocity="10.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="fl_caster_rotation_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.07" />
      <mass value="3.473082" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="fl_caster_l_wheel_joint" type="continuous">
    <origin xyz="0.0 0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="fl_caster_rotation_link" />
    <child link="fl_caster_l_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="fl_caster_l_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="fl_caster_r_wheel_joint" type="continuous">
    <origin xyz="0.0 -0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="fl_caster_rotation_link" />
    <child link="fl_caster_r_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="fl_caster_r_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="fr_caster_rotation_joint" type="continuous">
    <origin xyz="0.2246 -0.2246 0.0282" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="fr_caster_rotation_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.5" velocity="10.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="fr_caster_rotation_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.07" />
      <mass value="3.473082" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="fr_caster_l_wheel_joint" type="continuous">
    <origin xyz="0.0 0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="fr_caster_rotation_link" />
    <child link="fr_caster_l_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="fr_caster_l_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="fr_caster_r_wheel_joint" type="continuous">
    <origin xyz="0.0 -0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="fr_caster_rotation_link" />
    <child link="fr_caster_r_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="fr_caster_r_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="bl_caster_rotation_joint" type="continuous">
    <origin xyz="-0.2246 0.2246 0.0282" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="bl_caster_rotation_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.5" velocity="10.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="bl_caster_rotation_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.07" />
      <mass value="3.473082" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="bl_caster_l_wheel_joint" type="continuous">
    <origin xyz="0.0 0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="bl_caster_rotation_link" />
    <child link="bl_caster_l_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="bl_caster_l_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="bl_caster_r_wheel_joint" type="continuous">
    <origin xyz="0.0 -0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="bl_caster_rotation_link" />
    <child link="bl_caster_r_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="bl_caster_r_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="br_caster_rotation_joint" type="continuous">
    <origin xyz="-0.2246 -0.2246 0.0282" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="br_caster_rotation_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="6.5" velocity="10.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="br_caster_rotation_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.07" />
      <mass value="3.473082" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="br_caster_l_wheel_joint" type="continuous">
    <origin xyz="0.0 0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="br_caster_rotation_link" />
    <child link="br_caster_l_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="br_caster_l_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="br_caster_r_wheel_joint" type="continuous">
    <origin xyz="0.0 -0.049 0.0" rpy="0.0 0.0 0.0" />
    <parent link="br_caster_rotation_link" />
    <child link="br_caster_r_wheel_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="7.0" velocity="15.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="br_caster_r_wheel_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_v0/caster.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="1.57079632679 0.0 0.0" />
      <geometry>
        <cylinder length="0.034" radius="0.074792" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.44036" />
      <inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-4.273467e-06" izz="0.011763977943" />
    </inertial>
  </link>
  <joint name="torso_lift_joint" type="prismatic">
    <origin xyz="-0.05 0.0 0.739675" 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="10000.0" velocity="0.013" lower="0.0" upper="0.33" />
    <dynamics damping="20000.0" 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="meshes/torso_v0/torso_lift_L.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/torso_v0/torso_lift_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.1 0.0 -0.0885" />
      <mass value="36.248046" />
      <inertia ixx="2.771653750257" ixy="0.004284522609" ixz="-0.160418504506" iyy="2.510019507959" iyz="0.029664468704" izz="0.526432355569" />
    </inertial>
  </link>
  <joint name="head_pan_joint" type="revolute">
    <origin xyz="-0.01707 0.0 0.38145" 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="2.645" velocity="6.0" lower="-3.007" upper="3.007" />
    <dynamics damping="0.5" 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="meshes/head_v0/head_pan_L.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/head_v0/head_pan_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.010907 0.031693 0.090507" rpy="0.0 0.0 0.0" />
      <mass value="6.339" />
      <inertia ixx="0.032497592" ixy="0.00063604088" ixz="0.0025851534" iyy="0.046545627" iyz="-0.0024534295" izz="0.057652724" />
    </inertial>
  </link>
  <joint name="head_tilt_joint" type="revolute">
    <origin xyz="0.068 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="18.0" velocity="5.0" lower="-0.471238" upper="1.39626" />
    <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="meshes/head_v0/head_tilt_L.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/head_v0/head_tilt_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.001716 -0.019556 0.055002" rpy="0.0 0.0 0.0" />
      <mass value="4.479" />
      <inertia ixx="0.024223222" ixy="0.00062063507" ixz="-9.6909696e-05" iyy="0.054723086" iyz="0.002797024" izz="0.067306377" />
    </inertial>
  </link>
  <joint name="head_plate_frame_joint" type="fixed">
    <origin xyz="0.0232 0.0 0.0645" rpy="0.0 0.0 0.0" />
    <parent link="head_tilt_link" />
    <child link="head_plate_frame" />
  </joint>
  <link name="head_plate_frame">
    <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>
    </visual>
    <collision>
      <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>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="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="laser_tilt_mount_joint" type="revolute">
    <origin xyz="0.09893 0.0 0.227" rpy="0.0 0.0 0.0" />
    <parent link="torso_lift_link" />
    <child link="laser_tilt_mount_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="0.65" velocity="10.0" lower="-0.7854" upper="1.48353" />
    <dynamics damping="0.008" friction="0.0" />
  </joint>
  <link name="laser_tilt_mount_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/tilting_laser_v0/tilting_hokuyo_L.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/tilting_laser_v0/tilting_hokuyo_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.001136 0.00167 -0.00713" rpy="0.0 0.0 0.0" />
      <mass value="0.591" />
      <inertia ixx="0.001195273" ixy="2.3087e-05" ixz="3.7467e-05" iyy="0.001083956" iyz="3.4906e-05" izz="0.000795014" />
    </inertial>
  </link>
  <joint name="r_shoulder_pan_joint" type="revolute">
    <origin xyz="0.0 -0.188 0.0" rpy="0.0 0.0 0.0" />
    <parent link="torso_lift_link" />
    <child link="r_shoulder_pan_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="2.088" lower="-2.2853981634" upper="0.714601836603" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r_shoulder_pan_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_pan.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_pan.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.001201 0.024513 -0.098231" rpy="0.0 0.0 0.0" />
      <mass value="25.799322" />
      <inertia ixx="0.86617914248" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674" />
    </inertial>
  </link>
  <joint name="r_shoulder_lift_joint" type="revolute">
    <origin xyz="0.1 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_shoulder_pan_link" />
    <child link="r_shoulder_lift_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="30.0" velocity="2.082" lower="-0.5236" upper="1.3963" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r_shoulder_lift_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_lift.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_lift.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02195 -0.02664 -0.03127" rpy="0.0 0.0 0.0" />
      <mass value="2.74988" />
      <inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.0011042549" izz="0.01975753814" />
    </inertial>
  </link>
  <joint name="r_upper_arm_roll_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_shoulder_lift_link" />
    <child link="r_upper_arm_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="30.0" velocity="3.27" lower="-3.9" upper="0.8" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r_upper_arm_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/upper_arm_roll.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/upper_arm_roll_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="r_upper_arm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_upper_arm_roll_link" />
    <child link="r_upper_arm_link" />
  </joint>
  <link name="r_upper_arm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/upper_arm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/upper_arm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.21398 -0.01621 -0.0002" />
      <mass value="6.01769" />
      <inertia ixx="0.01537748957" ixy="0.00375711247" ixz="-0.00070852914" iyy="0.0747367044" iyz="-0.0001793645" izz="0.07608763307" />
    </inertial>
  </link>
  <joint name="r_forearm_roll_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_elbow_flex_link" />
    <child link="r_forearm_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="30.0" velocity="3.6" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r_forearm_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/forearm_roll.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/forearm_roll_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="r_elbow_flex_joint" type="revolute">
    <origin xyz="0.4 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_upper_arm_link" />
    <child link="r_elbow_flex_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="30.0" velocity="3.3" lower="-2.3213" upper="0.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r_elbow_flex_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/elbow_flex.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/elbow_flex.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01014 0.00032 -0.01211" />
      <mass value="1.90327" />
      <inertia ixx="0.00346541989" ixy="4.066825e-05" ixz="0.00043171614" iyy="0.00441606455" iyz="-3.968914e-05" izz="0.00359156824" />
    </inertial>
  </link>
  <joint name="r_forearm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_forearm_roll_link" />
    <child link="r_forearm_link" />
  </joint>
  <link name="r_forearm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.18791 -0.00017 -0.00912" />
      <mass value="2.57968" />
      <inertia ixx="0.00364857222" ixy="5.215877e-05" ixz="0.00071534842" iyy="0.01507736897" iyz="-1.31077e-05" izz="0.01659310749" />
    </inertial>
  </link>
  <joint name="r_wrist_flex_joint" type="revolute">
    <origin xyz="0.321 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_forearm_link" />
    <child link="r_wrist_flex_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="3.078" lower="-2.18" upper="0.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r_wrist_flex_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_flex.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_flex.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00157 0.0 -0.00075" />
      <mass value="0.61402" />
      <inertia ixx="0.00065165722" ixy="2.8864e-07" ixz="3.03477e-06" iyy="0.00019824443" iyz="-2.2645e-07" izz="0.00064450498" />
    </inertial>
  </link>
  <joint name="r_wrist_roll_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_wrist_flex_link" />
    <child link="r_wrist_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="3.6" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r_wrist_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_roll.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_roll_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="r_gripper_palm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_wrist_roll_link" />
    <child link="r_gripper_palm_link" />
  </joint>
  <link name="r_gripper_palm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/gripper_palm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/gripper_palm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.06623 0.00053 -0.00119" rpy="0.0 0.0 0.0" />
      <mass value="0.58007" />
      <inertia ixx="0.00035223921" ixy="-1.580476e-05" ixz="-9.175e-07" iyy="0.00067741312" iyz="-5.9554e-07" izz="0.00086563316" />
    </inertial>
  </link>
  <joint name="r_gripper_motor_accelerometer_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_gripper_palm_link" />
    <child link="r_gripper_motor_accelerometer_link" />
  </joint>
  <link name="r_gripper_motor_accelerometer_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="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="r_gripper_l_finger_joint" type="revolute">
    <origin xyz="0.07691 0.01 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_gripper_palm_link" />
    <child link="r_gripper_l_finger_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.02" friction="0.0" />
  </joint>
  <link name="r_gripper_l_finger_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03598 0.0173 -0.00164" rpy="0.0 0.0 0.0" />
      <mass value="0.17126" />
      <inertia ixx="7.756198e-05" ixy="1.49095e-06" ixz="-9.83385e-06" iyy="0.00019708305" iyz="-3.06125e-06" izz="0.00018105446" />
    </inertial>
  </link>
  <joint name="r_gripper_r_finger_joint" type="revolute">
    <origin xyz="0.07691 -0.01 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_gripper_palm_link" />
    <child link="r_gripper_r_finger_link" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.02" friction="0.0" />
  </joint>
  <link name="r_gripper_r_finger_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03576 -0.01736 -0.00095" rpy="0.0 0.0 0.0" />
      <mass value="0.17389" />
      <inertia ixx="7.73841e-05" ixy="-2.09309e-06" ixz="-8.36228e-06" iyy="0.00019847383" iyz="2.4611e-06" izz="0.00018106988" />
    </inertial>
  </link>
  <joint name="r_gripper_l_finger_tip_joint" type="revolute">
    <origin xyz="0.09137 0.00495 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_gripper_l_finger_link" />
    <child link="r_gripper_l_finger_tip_link" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.001" friction="0.0" />
  </joint>
  <link name="r_gripper_l_finger_tip_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00423 0.00284 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04419" />
      <inertia ixx="8.37047e-06" ixy="5.83632e-06" ixz="0.0" iyy="9.87067e-06" iyz="0.0" izz="1.541768e-05" />
    </inertial>
  </link>
  <joint name="r_gripper_r_finger_tip_joint" type="revolute">
    <origin xyz="0.09137 -0.00495 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_gripper_r_finger_link" />
    <child link="r_gripper_r_finger_tip_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.001" friction="0.0" />
  </joint>
  <link name="r_gripper_r_finger_tip_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00423 -0.00284 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04419" />
      <inertia ixx="8.37047e-06" ixy="-5.83632e-06" ixz="0.0" iyy="9.87067e-06" iyz="0.0" izz="1.541768e-05" />
    </inertial>
  </link>
  <joint name="l_shoulder_pan_joint" type="revolute">
    <origin xyz="0.0 0.188 0.0" rpy="0.0 0.0 0.0" />
    <parent link="torso_lift_link" />
    <child link="l_shoulder_pan_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="2.088" lower="-0.714601836603" upper="2.2853981634" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="l_shoulder_pan_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_pan.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_pan.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.001201 0.024513 -0.098231" rpy="0.0 0.0 0.0" />
      <mass value="25.799322" />
      <inertia ixx="0.86617914248" ixy="-0.06086507933" ixz="-0.12118061183" iyy="0.87421714893" iyz="-0.05886609911" izz="0.27353821674" />
    </inertial>
  </link>
  <joint name="l_shoulder_lift_joint" type="revolute">
    <origin xyz="0.1 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_shoulder_pan_link" />
    <child link="l_shoulder_lift_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="30.0" velocity="2.082" lower="-0.5236" upper="1.3963" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="l_shoulder_lift_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_lift.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/shoulder_lift.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02195 -0.02664 -0.03127" rpy="0.0 0.0 0.0" />
      <mass value="2.74988" />
      <inertia ixx="0.02105584615" ixy="0.00496704022" ixz="-0.00194808955" iyy="0.02127223737" iyz="0.0011042549" izz="0.01975753814" />
    </inertial>
  </link>
  <joint name="l_upper_arm_roll_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_shoulder_lift_link" />
    <child link="l_upper_arm_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="30.0" velocity="3.27" lower="-0.8" upper="3.9" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="l_upper_arm_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/upper_arm_roll.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/shoulder_v0/upper_arm_roll_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="l_upper_arm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_upper_arm_roll_link" />
    <child link="l_upper_arm_link" />
  </joint>
  <link name="l_upper_arm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/upper_arm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/upper_arm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.21405 0.01658 -0.00057" />
      <mass value="6.01769" />
      <inertia ixx="0.01530603856" ixy="-0.00339324862" ixz="0.00060765455" iyy="0.07473694455" iyz="-0.00019953729" izz="0.07601594191" />
    </inertial>
  </link>
  <joint name="l_forearm_roll_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_elbow_flex_link" />
    <child link="l_forearm_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="30.0" velocity="3.6" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="l_forearm_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/forearm_roll.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/forearm_roll_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="l_elbow_flex_joint" type="revolute">
    <origin xyz="0.4 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_upper_arm_link" />
    <child link="l_elbow_flex_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="30.0" velocity="3.3" lower="-2.3213" upper="0.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="l_elbow_flex_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/elbow_flex.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/upper_arm_v0/elbow_flex.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01014 0.00032 -0.01211" />
      <mass value="1.90327" />
      <inertia ixx="0.00346541989" ixy="4.066825e-05" ixz="0.00043171614" iyy="0.00441606455" iyz="-3.968914e-05" izz="0.00359156824" />
    </inertial>
  </link>
  <joint name="l_forearm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_forearm_roll_link" />
    <child link="l_forearm_link" />
  </joint>
  <link name="l_forearm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.18791 -0.00017 -0.00912" />
      <mass value="2.57968" />
      <inertia ixx="0.00364857222" ixy="5.215877e-05" ixz="0.00071534842" iyy="0.01507736897" iyz="-1.31077e-05" izz="0.01659310749" />
    </inertial>
  </link>
  <joint name="l_wrist_flex_joint" type="revolute">
    <origin xyz="0.321 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_forearm_link" />
    <child link="l_wrist_flex_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="3.078" lower="-2.18" upper="0.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="l_wrist_flex_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_flex.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_flex.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00157 0.0 -0.00075" />
      <mass value="0.61402" />
      <inertia ixx="0.00065165722" ixy="2.8864e-07" ixz="3.03477e-06" iyy="0.00019824443" iyz="-2.2645e-07" izz="0.00064450498" />
    </inertial>
  </link>
  <joint name="l_wrist_roll_joint" type="continuous">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_wrist_flex_link" />
    <child link="l_wrist_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="3.6" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="l_wrist_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_roll.stl" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/forearm_v0/wrist_roll_L.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
    </inertial>
  </link>
  <joint name="l_gripper_palm_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_wrist_roll_link" />
    <child link="l_gripper_palm_link" />
  </joint>
  <link name="l_gripper_palm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/gripper_palm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/gripper_palm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.06623 0.00053 -0.00119" rpy="0.0 0.0 0.0" />
      <mass value="0.58007" />
      <inertia ixx="0.00035223921" ixy="-1.580476e-05" ixz="-9.175e-07" iyy="0.00067741312" iyz="-5.9554e-07" izz="0.00086563316" />
    </inertial>
  </link>
  <joint name="l_gripper_motor_accelerometer_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_gripper_palm_link" />
    <child link="l_gripper_motor_accelerometer_link" />
  </joint>
  <link name="l_gripper_motor_accelerometer_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="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="l_gripper_l_finger_joint" type="revolute">
    <origin xyz="0.07691 0.01 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_gripper_palm_link" />
    <child link="l_gripper_l_finger_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.02" friction="0.0" />
  </joint>
  <link name="l_gripper_l_finger_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03598 0.0173 -0.00164" rpy="0.0 0.0 0.0" />
      <mass value="0.17126" />
      <inertia ixx="7.756198e-05" ixy="1.49095e-06" ixz="-9.83385e-06" iyy="0.00019708305" iyz="-3.06125e-06" izz="0.00018105446" />
    </inertial>
  </link>
  <joint name="l_gripper_r_finger_joint" type="revolute">
    <origin xyz="0.07691 -0.01 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_gripper_palm_link" />
    <child link="l_gripper_r_finger_link" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.02" friction="0.0" />
  </joint>
  <link name="l_gripper_r_finger_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03576 -0.01736 -0.00095" rpy="0.0 0.0 0.0" />
      <mass value="0.17389" />
      <inertia ixx="7.73841e-05" ixy="-2.09309e-06" ixz="-8.36228e-06" iyy="0.00019847383" iyz="2.4611e-06" izz="0.00018106988" />
    </inertial>
  </link>
  <joint name="l_gripper_l_finger_tip_joint" type="revolute">
    <origin xyz="0.09137 0.00495 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_gripper_l_finger_link" />
    <child link="l_gripper_l_finger_tip_link" />
    <axis xyz="0.0 0.0 -1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.001" friction="0.0" />
  </joint>
  <link name="l_gripper_l_finger_tip_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00423 0.00284 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04419" />
      <inertia ixx="8.37047e-06" ixy="5.83632e-06" ixz="0.0" iyy="9.87067e-06" iyz="0.0" izz="1.541768e-05" />
    </inertial>
  </link>
  <joint name="l_gripper_r_finger_tip_joint" type="revolute">
    <origin xyz="0.09137 -0.00495 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_gripper_r_finger_link" />
    <child link="l_gripper_r_finger_tip_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="0.5" lower="0.0" upper="0.548" />
    <dynamics damping="0.001" friction="0.0" />
  </joint>
  <link name="l_gripper_r_finger_tip_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.14159265359 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/gripper_v0/l_finger_tip.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00423 -0.00284 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.04419" />
      <inertia ixx="8.37047e-06" ixy="-5.83632e-06" ixz="0.0" iyy="9.87067e-06" iyz="0.0" izz="1.541768e-05" />
    </inertial>
  </link>
</robot>
