<?xml version="1.0" ?>
<robot name="openarm">
  <!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
  <link name="l_J1_v002">
    <visual>
      <!--J1 v002/Part__Feature.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j1v1_aooobi.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J1_v002__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0296"/>
      <geometry>
        <box size="0.11 0.073 0.0592"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.5769283920617252"/>
      <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0236621"/>
      <inertia ixx="0.0003403516757406" ixy="-0.0" ixz="-0.0" iyy="0.000430005830001" iyz="-5.098294821e-07" izz="0.0004802171432002"/>
    </inertial>
  </link>
  <link name="l_J2_v002">
    <visual>
      <!--J2 v002/Part__Feature001.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j2v1_jhlkho.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J2_v002__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
      <geometry>
        <box size="0.059000000014901216 0.08200000000000003 0.0742471498637348"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1625750413491735"/>
      <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
      <inertia ixx="0.0002390311021329" ixy="-7.55169292e-08" ixz="-1.1282723362e-06" iyy="0.0001049079831478" iyz="5.907962784e-06" izz="0.0001973736868594"/>
    </inertial>
  </link>
  <link name="l_J3_v003">
    <visual>
      <!--J3 v003/Part__Feature002.-->
      <origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j3v2_wvlhxy.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J3_v003__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
      <origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
      <geometry>
        <box size="0.08989101803441883 0.06999999999999984 0.05903276947803012"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.420167646991003"/>
      <origin rpy="1.5707963267948968 0 0" xyz="-0.00688022 0.0 0.0282752"/>
      <inertia ixx="0.0002025600112623" ixy="6.0042478753e-06" ixz="1.3304903058e-06" iyy="0.0002970624991388" iyz="5.980157766e-07" izz="0.0003288999435124"/>
    </inertial>
  </link>
  <link name="l_J4_v002">
    <visual>
      <!--J4 v002/Part__Feature003.-->
      <origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="0.000536411 0.0992364 0.0612453"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j4v1_augius.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J4_v002__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
      <origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="-0.013725 -0.00142762 -0.132481"/>
      <geometry>
        <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.8194755393734474"/>
      <origin rpy="1.5707963267958094 -1.5620381439005735 0" xyz="-0.00310558 -0.00194096 -0.132377"/>
      <inertia ixx="0.0004407845203398" ixy="6.02002369404e-05" ixz="0.0001463745926194" iyy="0.0092087914805304" iyz="1.5469710436e-06" izz="0.0091705393160237"/>
    </inertial>
  </link>
  <link name="l_J5_v003">
    <visual>
      <!--J5 v003/Part__Feature004.-->
      <origin rpy="0 -0.00875818289428989 0" xyz="0.303864 0.0 -0.128451"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j5v2_1zjcxf.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J5_v003__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
      <origin rpy="0 -0.0087581828942894 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
      <geometry>
        <box size="0.16827213220625822 0.06430555048399172 0.08257859967140947"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.4086748254352304"/>
      <origin rpy="0 -0.0087581828942894 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
      <inertia ixx="0.000314171574253" ixy="-1.13915660296e-05" ixz="-1.88347409006e-05" iyy="0.001221711435314" iyz="1.4672541842e-06" izz="0.0010755135067661"/>
    </inertial>
  </link>
  <link name="l_J6_v002">
    <visual>
      <!--J6 v002/Part__Feature005.-->
      <origin rpy="-2.1276679791304027 -1.5542266826921316 0" xyz="-0.0485412 -0.0860404 0.437784"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j6v1_71vz7n.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J6_v002__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
      <origin rpy="-2.1276679791303965 -1.5542266826921314 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
      <geometry>
        <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.344847195804925"/>
      <origin rpy="-2.1276679791303965 -1.5542266826921314 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
      <inertia ixx="0.0001935598099975" ixy="-1.0061665815e-06" ixz="-3.9096495715e-05" iyy="0.0003486912031866" iyz="6.0880603153e-06" izz="0.0002877497515376"/>
    </inertial>
  </link>
  <link name="l_J7_v002">
    <visual>
      <!--J7 v002/Part__Feature006.-->
      <origin rpy="0 -0.008758182894492011 0" xyz="0.558839 -0.00358671 -0.0631962"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j7v1_ebpnbv.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J7_v002__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
      <origin rpy="0 -0.008758182894492202 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 -0.008758182894492202 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
      <inertia ixx="0.0001042415331565" ixy="2.735265832e-07" ixz="-1.066232238e-07" iyy="0.0001231355074328" iyz="-8.60499675e-08" izz="9.22131995851e-05"/>
    </inertial>
  </link>
  <link name="l_J8_v002">
    <visual>
      <!--J8 v002/Part__Feature007.-->
      <origin rpy="1.5709195259578743 -0.014065461951076396 0" xyz="0.557948 0.103587 0.019724"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_j8v1_n9o5e8.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_J8_v002__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
      <origin rpy="1.5709195259578743 -0.014065461951076389 0" xyz="-0.042694 -0.000543176 0.0110286"/>
      <geometry>
        <box size="0.13038799671743653 0.05180887692688924 0.1601236763440867"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.3126145274380216"/>
      <origin rpy="1.5709195259578743 -0.014065461951076387 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
      <inertia ixx="0.0002346566136679" ixy="7.60904888201e-05" ixz="3.088694121e-07" iyy="0.0005065459365215" iyz="1.902281803e-07" izz="0.0003737029250058"/>
    </inertial>
  </link>
  <link name="l_right_jaw_v002">
    <visual>
      <!--right_jaw v002/Part__Feature009.-->
      <origin rpy="0 -0.008758182894796506 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_right_jawv1_fr5g7k.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_right_jaw_v002__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
      <origin rpy="0 -0.008758182894796357 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_col_right_jaw_v1_col_obj_p8alje.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0429816653011345"/>
      <origin rpy="0 -0.008758182894796502 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
      <inertia ixx="1.15612930876e-05" ixy="2.537718468e-06" ixz="-3.6591812258e-06" iyy="2.37016552787e-05" iyz="4.848038236e-07" izz="3.03965294654e-05"/>
    </inertial>
  </link>
  <link name="l_left_jaw_v002">
    <visual>
      <!--left_jaw v002/Part__Feature008.-->
      <origin rpy="0 -0.008758182894441503 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_left_jawv1_mtevtw.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__l_left_jaw_v002__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
      <origin rpy="0 -0.008758182894441503 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_description_2/meshes/robotcad_openarm_123_col_left_jaw_v1_col_obj_u5blmp.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0429789785639494"/>
      <origin rpy="0 -0.008758182894441498 0" xyz="-0.0187138 0.00217075 0.0159499"/>
      <inertia ixx="1.17717687429e-05" ixy="-2.3899281666e-06" ixz="3.9992922045e-06" iyy="2.38373544808e-05" iyz="3.494431877e-07" izz="3.04745902141e-05"/>
    </inertial>
  </link>
  <joint name="rev1" type="revolute">
    <parent link="l_J1_v002"/>
    <child link="l_J2_v002"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.05395"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.356194490192345" upper="2.356194490192345" velocity="0.0"/>
  </joint>
  <joint name="rev2" type="revolute">
    <parent link="l_J2_v002"/>
    <child link="l_J3_v003"/>
    <origin rpy="-1.5707963267948977 1.5707963267948957 0" xyz="0.0 -0.02975 0.04475"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
  </joint>
  <joint name="rev3" type="revolute">
    <parent link="l_J3_v003"/>
    <child link="l_J4_v002"/>
    <origin rpy="1.5707963267949046 0 1.5795545096892487" 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="rev4" type="revolute">
    <parent link="l_J4_v002"/>
    <child link="l_J5_v003"/>
    <origin rpy="0.7854173400827703 -1.5584104649378014 0.7854173400871975" xyz="-0.0021149 -0.0318708 -0.241471"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
  </joint>
  <joint name="rev5" type="revolute">
    <parent link="l_J5_v003"/>
    <child link="l_J6_v002"/>
    <origin rpy="1.5707963267949707 -0.5569332500522621 1.5567303253381135" 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="rev6" type="revolute">
    <parent link="l_J6_v002"/>
    <child link="l_J7_v002"/>
    <origin rpy="-1.5707963268025373 -1.5567303253381704 -0.5569332500438752" 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="rev7" type="revolute">
    <parent link="l_J7_v002"/>
    <child link="l_J8_v002"/>
    <origin rpy="-1.570796326795002 -0.008759049335348993 -0.014066001454933549" xyz="-0.000217313 -0.0154485 0.0355"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
  </joint>
  <joint name="gripper_right_jaw" type="prismatic">
    <parent link="l_J8_v002"/>
    <child link="l_right_jaw_v002"/>
    <origin rpy="1.570796326794885 -0.014066001454926544 0.008759049336297665" xyz="-0.10571 -0.0781373 0.0132053"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
    <mimic joint="gripper_left_jaw" multiplier="-1.0" offset="0.0"/>
  </joint>
  <joint name="gripper_left_jaw" type="prismatic">
    <parent link="l_J8_v002"/>
    <child link="l_left_jaw_v002"/>
    <origin rpy="1.5707963267948268 -0.014066001454925883 0.00875904933451695" xyz="-0.1071 0.07686 0.0132053"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
  </joint>
</robot>
