<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from franka_ros/franka_description/robots/panda/panda.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <link name="panda_link0">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link0.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
            <mass value="0.629769"/>
            <inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
        </inertial>
    </link>
    <link name="panda_link1">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
            <mass value="4.970684"/>
            <inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
        </inertial>
    </link>
    <joint name="panda_joint1" type="revolute">
        <origin rpy="0 0 0" xyz="0 0 0.333"/>
        <parent link="panda_link0"/>
        <child link="panda_link1"/>
        <axis xyz="0 0 1"/>
        <limit effort="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link2">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.003141 -0.02872  0.003495"/>
            <mass value="0.646926"/>
            <inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
        </inertial>
    </link>
    <joint name="panda_joint2" type="revolute">
        <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
        <parent link="panda_link1"/>
        <child link="panda_link2"/>
        <axis xyz="0 0 1"/>
        <limit effort="87.0" lower="-1.7628" upper="1.7628" velocity="2.175"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link3">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
            <mass value="3.228604"/>
            <inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
        </inertial>
    </link>
    <joint name="panda_joint3" type="revolute">
        <origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
        <parent link="panda_link2"/>
        <child link="panda_link3"/>
        <axis xyz="0 0 1"/>
        <limit effort="87.0" lower="-2.8973" upper="2.8973" velocity="2.175"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link4">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae"/>
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link4.stl"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
            <mass value="3.587895"/>
            <inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
        </inertial>
    </link>
    <joint name="panda_joint4" type="revolute">
        <origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
        <parent link="panda_link3"/>
        <child link="panda_link4"/>
        <axis xyz="0 0 1"/>
        <limit effort="87.0" lower="-3.0718" upper="-0.0698" velocity="2.175"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link5">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
            <mass value="1.225946"/>
            <inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
        </inertial>
    </link>
    <joint name="panda_joint5" type="revolute">
        <origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
        <parent link="panda_link4"/>
        <child link="panda_link5"/>
        <axis xyz="0 0 1"/>
        <limit effort="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link6">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
            <mass value="1.666555"/>
            <inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
        </inertial>
    </link>
    <joint name="panda_joint6" type="revolute">
        <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
        <parent link="panda_link5"/>
        <child link="panda_link6"/>
        <axis xyz="0 0 1"/>
        <limit effort="12.0" lower="-0.0175" upper="3.7525" velocity="2.61"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link7">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
            <mass value="0.735522"/>
            <inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
        </inertial>
    </link>
    <joint name="panda_joint7" type="revolute">
        <origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
        <parent link="panda_link6"/>
        <child link="panda_link7"/>
        <axis xyz="0 0 1"/>
        <limit effort="12.0" lower="-2.8973" upper="2.8973" velocity="2.61"/>
        <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
        <dynamics D="1" K="7000" damping="0.003" friction="0.0" mu_coulomb="0" mu_viscous="16"/>
    </joint>
    <link name="panda_link8">
        <inertial>
          <mass value="0"/>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
    </link>
    <joint name="panda_joint8" type="fixed">
        <origin rpy="0 0 0" xyz="0 0 0.107"/>
        <parent link="panda_link7"/>
        <child link="panda_link8"/>
    </joint>
    <joint name="panda_hand_joint" type="fixed">
        <parent link="panda_link8"/>
        <child link="panda_hand"/>
        <origin rpy="0 0 -0.7853981633974483" xyz="0 0 0"/>
    </joint>
    <link name="panda_hand">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
            </geometry>
        </visual>
        <collision>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
            <mass value="0.73"/>
            <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
        </inertial>
    </link>
    <!-- Define the hand_tcp frame -->
    <link name="panda_hand_tcp">
	<inertial>
          <mass value="0"/>
          <origin rpy="0 0 0" xyz="0 0 0"/>
          <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
        </inertial>
    </link>
    <joint name="panda_hand_tcp_joint" type="fixed">
        <origin rpy="0 0 0" xyz="0 0 0.1034"/>
        <parent link="panda_hand"/>
        <child link="panda_hand_tcp"/>
    </joint>
    <link name="panda_leftfinger">
        <visual>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
            </geometry>
        </visual>
        <!-- screw mount -->
        <collision>
            <origin rpy="0 0 0" xyz="0 18.5e-3 11e-3"/>
            <geometry>
                <box size="22e-3 15e-3 20e-3"/>
            </geometry>
        </collision>
        <!-- cartriage sledge -->
        <collision>
            <origin rpy="0 0 0" xyz="0 6.8e-3 2.2e-3"/>
            <geometry>
                <box size="22e-3 8.8e-3 3.8e-3"/>
            </geometry>
        </collision>
        <!-- diagonal finger -->
        <collision>
            <origin rpy="0.5235987755982988 0 0" xyz="0 15.9e-3 28.35e-3"/>
            <geometry>
                <box size="17.5e-3 7e-3 23.5e-3"/>
            </geometry>
        </collision>
        <!-- rubber tip with which to grasp -->
        <collision>
            <origin rpy="0 0 0" xyz="0 7.58e-3 45.25e-3"/>
            <geometry>
                <box size="17.5e-3 15.2e-3 18.5e-3"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.015"/>
            <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
        </inertial>
    </link>
    <link name="panda_rightfinger">
        <visual>
            <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
            <geometry>
                <mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
            </geometry>
        </visual>
        <!-- screw mount -->
        <collision>
            <origin rpy="0 0 0" xyz="0 -18.5e-3 11e-3"/>
            <geometry>
                <box size="22e-3 15e-3 20e-3"/>
            </geometry>
        </collision>
        <!-- cartriage sledge -->
        <collision>
            <origin rpy="0 0 0" xyz="0 -6.8e-3 2.2e-3"/>
            <geometry>
                <box size="22e-3 8.8e-3 3.8e-3"/>
            </geometry>
        </collision>
        <!-- diagonal finger -->
        <collision>
            <origin rpy="-0.5235987755982988 0 0" xyz="0 -15.9e-3 28.35e-3"/>
            <geometry>
                <box size="17.5e-3 7e-3 23.5e-3"/>
            </geometry>
        </collision>
        <!-- rubber tip with which to grasp -->
        <collision>
            <origin rpy="0 0 0" xyz="0 -7.58e-3 45.25e-3"/>
            <geometry>
                <box size="17.5e-3 15.2e-3 18.5e-3"/>
            </geometry>
        </collision>
        <inertial>
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <mass value="0.015"/>
            <inertia ixx="2.3749999999999997e-06" ixy="0" ixz="0" iyy="2.3749999999999997e-06" iyz="0" izz="7.5e-07"/>
        </inertial>
    </link>
    <joint name="panda_finger_joint1" type="prismatic">
        <parent link="panda_hand"/>
        <child link="panda_leftfinger"/>
        <origin rpy="0 0 0" xyz="0 0 0.0584"/>
        <axis xyz="0 1 0"/>
        <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
        <dynamics damping="0.3"/>
    </joint>
    <joint name="panda_finger_joint2" type="prismatic">
        <parent link="panda_hand"/>
        <child link="panda_rightfinger"/>
        <origin rpy="0 0 0" xyz="0 0 0.0584"/>
        <axis xyz="0 -1 0"/>
        <limit effort="100" lower="0.0" upper="0.04" velocity="0.2"/>
        <mimic joint="panda_finger_joint1"/>
        <dynamics damping="0.3"/>
    </joint>
</robot>
