<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ../../../franka_panda_description/robots/panda_arm.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="panda">
  <link name="panda_link0">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link0.dae"/>
      </geometry>
      <material name="panda_gray"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link0.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="panda_link1">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link1.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link1.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="3.875e-03 2.081e-03 -0.1750"/>
      <mass value="4.970684"/>
      <inertia ixx="7.0337e-01" ixy="-1.3900e-04" ixz="6.7720e-03" iyy="7.0661e-01" iyz="1.9169e-02" izz="9.1170e-03"/>
    </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="10.0" friction="5.0"/>
  </joint>
  <link name="panda_link2">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link2.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link2.stl"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-3.141e-03 -2.872e-02 3.495e-03"/>
      <mass value="0.646926"/>
      <inertia ixx="7.9620e-03" ixy="-3.9250e-03" 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="5.0" friction="2.0"/>
  </joint>
  <link name="panda_link3">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link3.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="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="5.0" friction="2.0"/>
  </joint>
  <link name="panda_link4">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link4.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="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="1.0" friction="0.5"/>
  </joint>
  <link name="panda_link5">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link5.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="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="2.0" friction="1.0"/>
  </joint>
  <link name="panda_link6">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link6.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="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="1.0" friction="0.5"/>
  </joint>
  <link name="panda_link7">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link7.dae"/>
      </geometry>
      <material name="panda_gray"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="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="1.0" friction="0.5"/>
  </joint>
  <link name="panda_link8">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
    </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"/>
    <axis xyz="0 0 0"/>
  </joint>
</robot>
