<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="panda">
  <link name="world"/>
  <joint name="robot_to_world" type="fixed">
    <parent link="world"/>
    <child link="panda_link0"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <link name="panda_link0">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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://franka_description/meshes/visual/link1.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="-0.00013900" ixz="0.0067720" iyy="0.70661" iyz="0.019169" izz="0.0091170"/>
    </inertial>
  </link>
  <joint name="panda_joint1" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <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" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link2">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="0.0079620" ixy="-3.9250e-3" ixz="1.0254e-02" iyy="2.8110e-02" iyz="7.0400e-04" izz="2.5995e-02"/>
    </inertial>
  </link>
  <joint name="panda_joint2" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
    <parent link="panda_link1"/>
    <child link="panda_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link3">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="3.7242e-02" ixy="-4.7610e-03" ixz="-1.1396e-02" iyy="3.6155e-02" iyz="-1.2805e-02" izz="1.0830e-02"/>
    </inertial>
  </link>
  <joint name="panda_joint3" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
    <parent link="panda_link2"/>
    <child link="panda_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link4">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="2.5853e-02" ixy="7.7960e-03" ixz="-1.3320e-03" iyy="1.9552e-02" iyz="8.6410e-03" izz="2.8323e-02"/>
    </inertial>
  </link>
  <joint name="panda_joint4" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
    <parent link="panda_link3"/>
    <child link="panda_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link5">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="3.5549e-02" ixy="-2.1170e-03" ixz="-4.0370e-03" iyy="2.9474e-02" iyz="2.2900e-04" izz="8.6270e-03"/>
    </inertial>
  </link>
  <joint name="panda_joint5" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
    <parent link="panda_link4"/>
    <child link="panda_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link6">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="1.9640e-03" ixy="1.0900e-04" ixz="-1.1580e-03" iyy="4.3540e-03" iyz="3.4100e-04" izz="5.4330e-03"/>
    </inertial>
  </link>
  <joint name="panda_joint6" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
    <parent link="panda_link5"/>
    <child link="panda_link6"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link7">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="7.35522e-01"/>
      <inertia ixx="1.2516e-02" ixy="-4.2800e-04" ixz="-1.1960e-03" iyy="1.0027e-02" iyz="-7.4100e-04" izz="4.8150e-03"/>
    </inertial>
  </link>
  <joint name="panda_joint7" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
    <parent link="panda_link6"/>
    <child link="panda_link7"/>
    <axis xyz="0 0 1"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
    <dynamics damping="10000000.0"/>
  </joint>
  <link name="panda_link8"/>
  <joint name="panda_joint8" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.107"/>
    <parent link="panda_link7"/>
    <child link="panda_link8"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="panda_hand_joint" type="fixed">
    <parent link="panda_link8"/>
    <child link="panda_hand"/>
    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
  </joint>
  <link name="panda_hand">
    <visual>
    <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_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="0.0" ixz="0.0" iyy="0.0025" iyz="0.0" izz="0.0017"/>
    </inertial>
  </link>
  <link name="panda_leftfinger">
    <visual>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.015"/>
      <inertia ixx="2.3749999999999997e-06" ixy="0.0" ixz="0.0" iyy="2.3749999999999997e-06" iyz="0.0" izz="7.5e-07"/>
    </inertial>
  </link>
  <link name="panda_rightfinger">
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://franka_description/meshes/collision/finger.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.015"/>
      <inertia ixx="2.3749999999999997e-06" ixy="0.0" ixz="0.0" iyy="2.3749999999999997e-06" iyz="0.0" 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="20" lower="0.0" upper="0.04" velocity="0.2"/>
  </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="20" lower="0.0" upper="0.04" velocity="0.2"/>
    <mimic joint="panda_finger_joint1"/>
  </joint>
  <!-- Link0 -->
  <gazebo reference="panda_link0">
    <material>Gazebo/Grey</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link1 -->
  <gazebo reference="panda_link1">
    <material>Gazebo/White</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link2 -->
  <gazebo reference="panda_link2">
    <material>Gazebo/White</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link3 -->
  <gazebo reference="panda_link3">
    <material>Gazebo/White</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link4 -->
  <gazebo reference="panda_link4">
    <material>Gazebo/White</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link5 -->
  <gazebo reference="panda_link5">
    <material>Gazebo/White</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link6 -->
  <gazebo reference="panda_link6">
    <material>Gazebo/White</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link7 -->
  <gazebo reference="panda_link7">
    <material>Gazebo/Grey</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Link8 -->
  <gazebo reference="panda_link8">
    <material>Gazebo/Grey</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- LinkHand -->
  <gazebo reference="panda_hand">
    <material>Gazebo/Grey</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- LinkRightFinger -->
  <gazebo reference="panda_rightfinger">
    <material>Gazebo/Grey</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- LinkLeftFinger -->
  <gazebo reference="panda_leftfinger">
    <material>Gazebo/Grey</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
  </gazebo>
  <!-- Load Gazebo lib and set the robot namespace -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <!-- <robotNamespace>/${robot_name}</robotNamespace> -->
    </plugin>
  </gazebo>
  <transmission name="panda_tran_1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_tran_2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_tran_3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint3">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_3">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_tran_4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint4">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_4">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_tran_5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_5">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_tran_6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint6">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_6">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_tran_7">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_joint7">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_motor_7">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_leftfinger">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_finger_joint1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_finger_joint1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="panda_rightfinger">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="panda_finger_joint2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="panda_finger_joint2">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
</robot>
