<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 7dc267132c2f830c -->
<robot name="yumi">
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0" />
  </material>
  <material name="Blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0" />
  </material>
  <material name="Grey">
    <color rgba="0.5 0.5 0.5 1.0" />
  </material>
  <material name="Light_Grey">
    <color rgba="0.8 0.8 0.8 1.0" />
  </material>
  <material name="Ivory">
    <color rgba="1.0 1.0 0.94 1.0" />
  </material>
  <material name="Orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0" />
  </material>
  <material name="Brown">
    <color rgba="0.870588235294 0.811764705882 0.764705882353 1.0" />
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0" />
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <link name="yumi_base_link" />
  <joint name="yumi_base_link_to_body" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="yumi_base_link" />
    <child link="yumi_body" />
  </joint>
  <link name="yumi_body">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/body.stl" />
      </geometry>
      <material name="Light_Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/body.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="15.0" />
      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.6" iyz="0.0" izz="0.3" />
    </inertial>
  </link>
  <joint name="yumi_joint_1_r" type="revolute">
    <origin xyz="0.05355 -0.0725 0.41492" rpy="-0.9795 -0.5682 -2.3155" />
    <parent link="yumi_body" />
    <child link="yumi_link_1_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_1_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_1.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_2_r" type="revolute">
    <origin xyz="0.03 0.0 0.1" rpy="1.57079632679 0.0 0.0" />
    <parent link="yumi_link_1_r" />
    <child link="yumi_link_2_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.50454747661" upper="0.759218224618" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_2_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_2.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_7_r" type="revolute">
    <origin xyz="-0.03 0.17283 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="yumi_link_2_r" />
    <child link="yumi_link_3_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_3_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_3.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_3_r" type="revolute">
    <origin xyz="-0.04188 0.0 0.07873" rpy="1.57079632679 -1.57079632679 0.0" />
    <parent link="yumi_link_3_r" />
    <child link="yumi_link_4_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.15548162621" upper="1.3962634016" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_4_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_4.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_4_r" type="revolute">
    <origin xyz="0.0405 0.16461 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="yumi_link_4_r" />
    <child link="yumi_link_5_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="6.98131700798" lower="-5.06145483078" upper="5.06145483078" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_5_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_5.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_5_r" type="revolute">
    <origin xyz="-0.027 0.0 0.10039" rpy="1.57079632679 0.0 0.0" />
    <parent link="yumi_link_5_r" />
    <child link="yumi_link_6_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="6.98131700798" lower="-1.53588974176" upper="2.40855436775" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_6_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_6.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_6_r" type="revolute">
    <origin xyz="0.027 0.029 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="yumi_link_6_r" />
    <child link="yumi_link_7_r" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="6.98131700798" lower="-3.99680398707" upper="3.99680398707" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_7_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_7.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_1_l" type="revolute">
    <origin xyz="0.05355 0.0725 0.41492" rpy="0.9781 -0.5716 2.318" />
    <parent link="yumi_body" />
    <child link="yumi_link_1_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_1_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_1.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03 0.12" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_2_l" type="revolute">
    <origin xyz="0.03 0.0 0.1" rpy="1.57079632679 0.0 0.0" />
    <parent link="yumi_link_1_l" />
    <child link="yumi_link_2_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.50454747661" upper="0.759218224618" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_2_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_2.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_7_l" type="revolute">
    <origin xyz="-0.03 0.17283 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="yumi_link_2_l" />
    <child link="yumi_link_3_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.94087978961" upper="2.94087978961" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_3_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_3.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_3_l" type="revolute">
    <origin xyz="-0.04188 0.0 0.07873" rpy="1.57079632679 -1.57079632679 0.0" />
    <parent link="yumi_link_3_l" />
    <child link="yumi_link_4_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="3.14159265359" lower="-2.15548162621" upper="1.3962634016" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_4_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_4.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_4.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_4_l" type="revolute">
    <origin xyz="0.0405 0.16461 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="yumi_link_4_l" />
    <child link="yumi_link_5_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="6.98131700798" lower="-5.06145483078" upper="5.06145483078" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_5_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_5.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_5.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_5_l" type="revolute">
    <origin xyz="-0.027 0.0 0.10039" rpy="1.57079632679 0.0 0.0" />
    <parent link="yumi_link_5_l" />
    <child link="yumi_link_6_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="6.98131700798" lower="-1.53588974176" upper="2.40855436775" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_6_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_6.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_6.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_joint_6_l" type="revolute">
    <origin xyz="0.027 0.029 0.0" rpy="-1.57079632679 0.0 0.0" />
    <parent link="yumi_link_6_l" />
    <child link="yumi_link_7_l" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="300.0" velocity="6.98131700798" lower="-3.99680398707" upper="3.99680398707" />
    <dynamics damping="0.5" friction="0.0" />
  </joint>
  <link name="yumi_link_7_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/link_7.stl" />
      </geometry>
      <material name="Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/coarse/link_7.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1" />
    </inertial>
  </link>
  <joint name="yumi_link_7_r_joint" type="fixed">
    <origin xyz="0.0 0.0 0.007" rpy="0.0 0.0 3.14159265359" />
    <parent link="yumi_link_7_r" />
    <child link="gripper_r_base" />
  </joint>
  <link name="gripper_r_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/base.stl" />
      </geometry>
      <material name="Light_Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/coarse/base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="gripper_r_joint" type="prismatic">
    <origin xyz="0.0 -0.0065 0.0837" rpy="0.0 0.0 0.0" />
    <parent link="gripper_r_base" />
    <child link="gripper_r_finger_r" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="gripper_r_finger_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/finger.stl" />
      </geometry>
      <material name="Blue" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="gripper_r_joint_m" type="prismatic">
    <origin xyz="0.0 0.0065 0.0837" rpy="0.0 0.0 3.14159265359" />
    <parent link="gripper_r_base" />
    <child link="gripper_r_finger_l" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="gripper_r_finger_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/finger.stl" />
      </geometry>
      <material name="Blue" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="yumi_link_7_l_joint" type="fixed">
    <origin xyz="0.0 0.0 0.007" rpy="0.0 0.0 3.14159265359" />
    <parent link="yumi_link_7_l" />
    <child link="gripper_l_base" />
  </joint>
  <link name="gripper_l_base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/base.stl" />
      </geometry>
      <material name="Light_Grey" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/coarse/base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.2" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="gripper_l_joint" type="prismatic">
    <origin xyz="0.0 -0.0065 0.0837" rpy="0.0 0.0 0.0" />
    <parent link="gripper_l_base" />
    <child link="gripper_l_finger_r" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="gripper_l_finger_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/finger.stl" />
      </geometry>
      <material name="Blue" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="gripper_l_joint_m" type="prismatic">
    <origin xyz="0.0 0.0065 0.0837" rpy="0.0 0.0 3.14159265359" />
    <parent link="gripper_l_base" />
    <child link="gripper_l_finger_l" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="20.0" velocity="2.0" lower="0.0" upper="0.025" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="gripper_l_finger_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/finger.stl" />
      </geometry>
      <material name="Blue" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://yumi/meshes/gripper/coarse/finger.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <link name="world" />
  <joint name="world_joint" type="fixed">
    <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="yumi_base_link" />
  </joint>
</robot>
