openarm_ros2/openarm_bimanual_description/urdf/openarm_bimanual.urdf

<?xml version="1.0" ?>
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<!-- |    This document was autogenerated by xacro from openarm_bimanual_description/urdf/openarm_bimanual.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
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<!--
　Copyright 2025 Reazon Holdings, Inc.

　Licensed under the Apache License, Version 2.0 (the "License");
　you may not use this file except in compliance with the License.
　You may obtain a copy of the License at

　    http://www.apache.org/licenses/LICENSE-2.0

　Unless required by applicable law or agreed to in writing, software
　distributed under the License is distributed on an "AS IS" BASIS,
　WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
　See the License for the specific language governing permissions and
　limitations under the License.
-->
<robot name="openarm_bimanual">
  <material name="gray">
    <color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
  </material>
  <material name="dark_gray">
    <color rgba="0.19607843137254902 0.19607843137254902 0.19607843137254902 1.0"/>
  </material>
  <link name="pedestal_link">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_bimanual_description/meshes/pedestal_link.stl"/>
      </geometry>
      <material name="gray">
        <color rgba="0.4117647058823529 0.4117647058823529 0.4117647058823529 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.489"/>
      <geometry>
        <box size="0.18 0.06 0.978000000000004"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.850309883435878"/>
      <origin rpy="0 0 0" xyz="0.0 -0.0180451 0.410247"/>
      <inertia ixx="0.6232810322991779" ixy="7.916644206828546e-12" ixz="-1.094192214704477e-11" iyy="0.6253514495087933" iyz="-0.03342233248166168" izz="0.02000994027356939"/>
    </inertial>
  </link>
  <material name="aluminum">
    <color rgba="0.5 0.5 0.5 1"/>
  </material>
  <material name="plastic">
    <color rgba="0.1 0.1 0.1 1"/>
  </material>
  <!-- camera body, with origin at bottom screw mount -->
  <joint name="camera_joint" type="fixed">
    <origin rpy="0.0 1.3962634015954636 -1.5707963267948966" xyz="0.0 -0.025 0.995216"/>
    <parent link="pedestal_link"/>
    <child link="camera_bottom_screw_frame"/>
  </joint>
  <link name="camera_bottom_screw_frame"/>
  <joint name="camera_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125"/>
    <parent link="camera_bottom_screw_frame"/>
    <child link="camera_link"/>
  </joint>
  <link name="camera_link">
    <visual>
      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 -0.0175 0"/>
      <geometry>
        <mesh filename="file:///opt/ros/humble/share/realsense2_description/meshes/d435.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0175 0"/>
      <geometry>
        <box size="0.02505 0.09 0.025"/>
      </geometry>
    </collision>
    <inertial>
      <!-- The following are not reliable values, and should not be used for modeling -->
      <mass value="0.072"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <!-- camera depth joints and links -->
  <joint name="camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>
  <link name="camera_depth_frame"/>
  <joint name="camera_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_depth_frame"/>
    <child link="camera_depth_optical_frame"/>
  </joint>
  <link name="camera_depth_optical_frame"/>
  <!-- camera left IR joints and links -->
  <joint name="camera_infra1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0 0"/>
    <parent link="camera_link"/>
    <child link="camera_infra1_frame"/>
  </joint>
  <link name="camera_infra1_frame"/>
  <joint name="camera_infra1_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_infra1_frame"/>
    <child link="camera_infra1_optical_frame"/>
  </joint>
  <link name="camera_infra1_optical_frame"/>
  <!-- camera right IR joints and links -->
  <joint name="camera_infra2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.05 0"/>
    <parent link="camera_link"/>
    <child link="camera_infra2_frame"/>
  </joint>
  <link name="camera_infra2_frame"/>
  <joint name="camera_infra2_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_infra2_frame"/>
    <child link="camera_infra2_optical_frame"/>
  </joint>
  <link name="camera_infra2_optical_frame"/>
  <!-- camera color joints and links -->
  <joint name="camera_color_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.015 0"/>
    <parent link="camera_link"/>
    <child link="camera_color_frame"/>
  </joint>
  <link name="camera_color_frame"/>
  <joint name="camera_color_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_color_frame"/>
    <child link="camera_color_optical_frame"/>
  </joint>
  <link name="camera_color_optical_frame"/>
  <link name="camera_accel_frame"/>
  <link name="camera_accel_optical_frame"/>
  <link name="camera_gyro_frame"/>
  <link name="camera_gyro_optical_frame"/>
  <joint name="camera_accel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
    <parent link="camera_link"/>
    <child link="camera_accel_frame"/>
  </joint>
  <joint name="camera_accel_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_accel_frame"/>
    <child link="camera_accel_optical_frame"/>
  </joint>
  <joint name="camera_gyro_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
    <parent link="camera_link"/>
    <child link="camera_gyro_frame"/>
  </joint>
  <joint name="camera_gyro_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_gyro_frame"/>
    <child link="camera_gyro_optical_frame"/>
  </joint>
  <link name="world"/>
  <joint name="dummy_joint" type="fixed">
    <parent link="world"/>
    <child link="pedestal_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
  <!-- side right, left -->
  <!-- recommended prefixes left_, right_, etc. -->
  <!-- zero_pos up, arm -->
  <link name="right_dummy_link"/>
  <joint name="right_dummy_joint" type="fixed">
    <parent link="right_dummy_link"/>
    <child link="right_link1"/>
  </joint>
  <link name="right_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link1.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
      <geometry>
        <box size="0.11 0.073 0.0592"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.5769283920617254"/>
      <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
      <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
    </inertial>
  </link>
  <link name="right_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link2.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
      <geometry>
        <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.16257504134917358"/>
      <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
      <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
    </inertial>
  </link>
  <link name="right_link3">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link3.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
      <geometry>
        <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.4201676469910031"/>
      <origin rpy="1.5707963267948966 0 0" xyz="-0.00688022 0.0 0.0282752"/>
      <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
    </inertial>
  </link>
  <link name="right_link4">
    <visual>
      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link4.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
      <geometry>
        <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.819475539373447"/>
      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
      <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
    </inertial>
  </link>
  <link name="right_link5">
    <visual>
      <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link5.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
      <geometry>
        <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.4086748254352304"/>
      <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
      <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
    </inertial>
  </link>
  <link name="right_link6">
    <visual>
      <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link6_rightarm.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
      <geometry>
        <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.3448471958049249"/>
      <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
      <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
    </inertial>
  </link>
  <link name="right_link7">
    <visual>
      <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link7_rightarm.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
      <geometry>
        <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2782138078738053"/>
      <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
      <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
    </inertial>
  </link>
  <link name="right_link8">
    <visual>
      <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link8.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
      <geometry>
        <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.31261452743802165"/>
      <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
      <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
    </inertial>
  </link>
  <link name="right_gripper_center"/>
  <link name="right_link_left_jaw">
    <visual>
      <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.04297897856394934"/>
      <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
      <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
    </inertial>
  </link>
  <link name="right_link_right_jaw">
    <visual>
      <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.042981665301134515"/>
      <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
      <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
    </inertial>
  </link>
  <joint name="right_rev1" type="revolute">
    <parent link="right_link1"/>
    <child link="right_link2"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.7853981633974483" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="right_rev2" type="revolute">
    <parent link="right_link2"/>
    <child link="right_link3"/>
    <origin rpy="-1.5707963267948968 0.0 0.0" xyz="0.0 -0.02975 0.04475"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.17453292519943295" upper="2.9670597283903604" velocity="0.0"/>
  </joint>
  <joint name="right_rev3" type="revolute">
    <parent link="right_link3"/>
    <child link="right_link4"/>
    <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="right_rev4" type="revolute">
    <parent link="right_link4"/>
    <child link="right_link5"/>
    <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0" upper="2.6179938779914944" velocity="0.0"/>
  </joint>
  <joint name="right_rev5" type="revolute">
    <parent link="right_link5"/>
    <child link="right_link6"/>
    <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="right_rev6" type="revolute">
    <parent link="right_link6"/>
    <child link="right_link7"/>
    <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
  </joint>
  <joint name="right_rev7" type="revolute">
    <parent link="right_link7"/>
    <child link="right_link8"/>
    <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
  </joint>
  <joint name="right_left_pris1" type="prismatic">
    <parent link="right_link8"/>
    <child link="right_link_left_jaw"/>
    <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
  </joint>
  <joint name="right_right_pris2" type="prismatic">
    <parent link="right_link8"/>
    <child link="right_link_right_jaw"/>
    <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
    <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
  </joint>
  <joint name="right_virtual_gripper_center" type="fixed">
    <parent link="right_link8"/>
    <child link="right_gripper_center"/>
    <origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
  </joint>
  <joint name="right_fixed1" type="fixed">
    <parent link="pedestal_link"/>
    <child link="right_dummy_link"/>
    <origin rpy="6.160245846096606 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
  </joint>
  <!-- side right, left -->
  <!-- recommended prefixes left_, right_, etc. -->
  <!-- zero_pos up, arm -->
  <link name="left_dummy_link"/>
  <joint name="left_dummy_joint" type="fixed">
    <parent link="left_dummy_link"/>
    <child link="left_link1"/>
  </joint>
  <link name="left_link1">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link1.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
      <geometry>
        <box size="0.11 0.073 0.0592"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.5769283920617254"/>
      <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
      <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
    </inertial>
  </link>
  <link name="left_link2">
    <visual>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link2.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
      <geometry>
        <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.16257504134917358"/>
      <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
      <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
    </inertial>
  </link>
  <link name="left_link3">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link3.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
      <geometry>
        <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.4201676469910031"/>
      <origin rpy="1.5707963267948966 0 0" xyz="-0.00688022 0.0 0.0282752"/>
      <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
    </inertial>
  </link>
  <link name="left_link4">
    <visual>
      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link4.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
      <geometry>
        <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.819475539373447"/>
      <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
      <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
    </inertial>
  </link>
  <link name="left_link5">
    <visual>
      <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link5.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
      <geometry>
        <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.4086748254352304"/>
      <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
      <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
    </inertial>
  </link>
  <link name="left_link6">
    <visual>
      <origin rpy="5.269260632722435 1.5542266826921929 3.141592653589793" xyz="0.0605412 0.0878404 0.435484"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link6_leftarm.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
      <geometry>
        <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.3448471958049249"/>
      <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
      <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
    </inertial>
  </link>
  <link name="left_link7">
    <visual>
      <origin rpy="0 3.150350836484304 0" xyz="0.558839 -0.0034132900000000002 0.1341962"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link7_leftarm.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
      <geometry>
        <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.2782138078738053"/>
      <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
      <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
    </inertial>
  </link>
  <link name="left_link8">
    <visual>
      <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/link8.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
      <geometry>
        <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.31261452743802165"/>
      <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
      <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
    </inertial>
  </link>
  <link name="left_gripper_center"/>
  <link name="left_link_left_jaw">
    <visual>
      <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/left_jaw.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.04297897856394934"/>
      <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
      <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
    </inertial>
  </link>
  <link name="left_link_right_jaw">
    <visual>
      <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_description/meshes/right_jaw.stl"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.042981665301134515"/>
      <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
      <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
    </inertial>
  </link>
  <joint name="left_rev1" type="revolute">
    <parent link="left_link1"/>
    <child link="left_link2"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="0.7853981633974483" velocity="0.0"/>
  </joint>
  <joint name="left_rev2" type="revolute">
    <parent link="left_link2"/>
    <child link="left_link3"/>
    <origin rpy="-1.5707963267948968 0.0 0.0" xyz="0.0 -0.02975 0.04475"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.17453292519943295" upper="2.9670597283903604" velocity="0.0"/>
  </joint>
  <joint name="left_rev3" type="revolute">
    <parent link="left_link3"/>
    <child link="left_link4"/>
    <origin rpy="-1.5707963267949054 3.141592653589793 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="left_rev4" type="revolute">
    <parent link="left_link4"/>
    <child link="left_link5"/>
    <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0" upper="2.6179938779914944" velocity="0.0"/>
  </joint>
  <joint name="left_rev5" type="revolute">
    <parent link="left_link5"/>
    <child link="left_link6"/>
    <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="left_rev6" type="revolute">
    <parent link="left_link6"/>
    <child link="left_link7"/>
    <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
  </joint>
  <joint name="left_rev7" type="revolute">
    <parent link="left_link7"/>
    <child link="left_link8"/>
    <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-0.9599310885968811" upper="0.9599310885968811" velocity="0.0"/>
  </joint>
  <joint name="left_left_pris1" type="prismatic">
    <parent link="left_link8"/>
    <child link="left_link_left_jaw"/>
    <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
  </joint>
  <joint name="left_right_pris2" type="prismatic">
    <parent link="left_link8"/>
    <child link="left_link_right_jaw"/>
    <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
    <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
  </joint>
  <joint name="left_virtual_gripper_center" type="fixed">
    <parent link="left_link8"/>
    <child link="left_gripper_center"/>
    <origin rpy="0 0 0" xyz="-0.13 0.00 0.0132053"/>
  </joint>
  <joint name="left_fixed1" type="fixed">
    <parent link="pedestal_link"/>
    <child link="left_dummy_link"/>
    <origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
  </joint>
  <ros2_control name="right_RightOpenArmHW" type="system">
    <hardware>
      <plugin>openarm_hardware/OpenArmHW</plugin>
      <param name="prefix">right_</param>
      <param name="can_device">can0</param>
    </hardware>
    <joint name="right_rev1">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_rev2">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_rev3">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_rev4">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_rev5">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_rev6">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_rev7">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="right_left_pris1">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>
  <ros2_control name="left_LeftOpenArmHW" type="system">
    <hardware>
      <plugin>openarm_hardware/OpenArmHW</plugin>
      <param name="prefix">left_</param>
      <param name="can_device">can1</param>
    </hardware>
    <joint name="left_rev1">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_rev2">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_rev3">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_rev4">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_rev5">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_rev6">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_rev7">
      <command_interface name="position"/>
      <command_interface name="velocity"/>
      <command_interface name="effort"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
      <state_interface name="effort"/>
    </joint>
    <joint name="left_left_pris1">
      <command_interface name="position"/>
      <state_interface name="position"/>
      <state_interface name="velocity"/>
    </joint>
  </ros2_control>
</robot>