<?xml version="1.0" ?>
<robot name="fetch">
  <link name="base_link">
    <inertial>
      <origin rpy="1.56 0 0" xyz="-0.0036 0.0 0.0014" />
      <mass value="70.1294" />
      <inertia ixx="1.225" ixy="0.0099" ixz="0.0062" iyy="1.2853" iyz="-0.0034" izz="0.987" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/base_link.dae" />
      </geometry>
      <material name="mat0">
        <color rgba="0.356 0.361 0.376 1" />
      </material>
    </visual>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0 0 0.4" />
      <geometry>
        <!--<mesh filename="../meshes/base_link_collision.obj" />-->
        <cylinder length="0.8" radius="0.3"/>
      </geometry>
    </collision>
  </link>
  <link name="torso_lift_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0013 -0.0009 0.2935" />
      <mass value="10.7796" />
      <inertia ixx="0.3354" ixy="0.0" ixz="-0.0162" iyy="0.3354" iyz="-0.0006" izz="0.0954" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/torso_lift_link.dae" />
      </geometry>
      <material name="math3">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint name="torso_lift_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="-0.086875 0 0.37743" />
    <parent link="base_link" />
    <child link="torso_lift_link" />
    <axis xyz="0 0 1" />
    <limit effort="450.0" lower="0" upper="0.38615" velocity="0.1" />
  <dynamics damping="100.0" /></joint>
  <link name="head_pan_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0321 0.0161 0.0390" />
      <mass value="2.2556" />
      <inertia ixx="0.0129" ixy="0.0002" ixz="0.0007" iyy="0.0095" iyz="-0.0" izz="0.0184" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/head_pan_link.dae" />
      </geometry>
      <material name="math4">
        <color rgba="0.356 0.361 0.376 1" />
      </material>
    </visual>
  </link>
  <joint name="head_pan_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.053125 0 0.603001417713939" />
    <parent link="torso_lift_link" />
    <child link="head_pan_link" />
    <axis xyz="0 0 1" />
  <limit effort="0.32" lower="-1.57" upper="1.57" velocity="1.57" /></joint>
  <link name="head_tilt_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0081 0.0025 0.0113" />
      <mass value="0.9087" />
      <inertia ixx="0.0061" ixy="-0.0" ixz="0.0002" iyy="0.0014" iyz="-0.0001" izz="0.0061" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/head_tilt_link.dae" />
      </geometry>
      <material name="5">
        <color rgba="0.086 0.506 0.767 1" />
      </material>
    </visual>
  </link>
  <joint name="head_tilt_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.14253 0 0.057999" />
    <parent link="head_pan_link" />
    <child link="head_tilt_link" />
    <axis xyz="0 1 0" />
    <limit effort="0.68" lower="-0.76" upper="1.45" velocity="1.57" />
  </joint>
  <link name="shoulder_pan_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0927 -0.0056 0.0564" />
      <mass value="2.5587" />
      <inertia ixx="0.0043" ixy="-0.0001" ixz="0.001" iyy="0.0087" iyz="-0.0001" izz="0.0087" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/shoulder_pan_link.dae" />
      </geometry>
      <material name="6">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint name="shoulder_pan_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.119525 0 0.34858" />
    <parent link="torso_lift_link" />
    <child link="shoulder_pan_link" />
    <axis xyz="0 0 1" />
    <dynamics damping="1.0" />
    <limit effort="33.82" lower="-1.6056" upper="1.6056" velocity="1.256" />
  </joint>
  <link name="shoulder_lift_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.1432 0.0072 -0.0001" />
      <mass value="2.6615" />
      <inertia ixx="0.0028" ixy="-0.0021" ixz="-0.0" iyy="0.0111" iyz="-0.0" izz="0.0112" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/shoulder_lift_link.dae" />
      </geometry>
      <material name="7">
        <color rgba="0.086 0.506 0.767 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/shoulder_lift_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.117 0 0.0599999999999999" />
    <parent link="shoulder_pan_link" />
    <child link="shoulder_lift_link" />
    <axis xyz="0 1 0" />
    <dynamics damping="1.0" />
    <limit effort="131.76" lower="-1.221" upper="1.518" velocity="1.454" />
  </joint>
  <link name="upperarm_roll_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.1165 0.0014 0.0000" />
      <mass value="2.3311" />
      <inertia ixx="0.0019" ixy="-0.0001" ixz="0.0" iyy="0.0045" iyz="0.0" izz="0.0047" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/upperarm_roll_link.dae" />
      </geometry>
      <material name="8">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/upperarm_roll_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="upperarm_roll_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.219 0 0" />
    <parent link="shoulder_lift_link" />
    <child link="upperarm_roll_link" />
    <axis xyz="1 0 0" />
    <dynamics damping="5.0" />
    <limit effort="76.94" velocity="1.571" />
  </joint>
  <link name="elbow_flex_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.1279 0.0073 0.0000" />
      <mass value="2.1299" />
      <inertia ixx="0.0024" ixy="-0.0016" ixz="0.0" iyy="0.0082" iyz="-0.0" izz="0.0084" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/elbow_flex_link.dae" />
      </geometry>
      <material name="9">
        <color rgba="0.086 0.506 0.767 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/elbow_flex_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="elbow_flex_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.133 0 0" />
    <parent link="upperarm_roll_link" />
    <child link="elbow_flex_link" />
    <axis xyz="0 1 0" />
    <dynamics damping="1.0" />
    <limit effort="66.18" lower="-2.251" upper="2.251" velocity="1.521" />
  </joint>
  <link name="forearm_roll_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.1097 -0.0266 0.0000" />
      <mass value="1.6563" />
      <inertia ixx="0.0016" ixy="-0.0003" ixz="0.0" iyy="0.003" iyz="-0.0" izz="0.0035" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/forearm_roll_link.dae" />
      </geometry>
      <material name="10">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/forearm_roll_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="forearm_roll_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.197 0 0" />
    <parent link="elbow_flex_link" />
    <child link="forearm_roll_link" />
    <axis xyz="1 0 0" />
    <dynamics damping="5.0" />
    <limit effort="29.35" velocity="1.571" />
  </joint>
  <link name="wrist_flex_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0882 0.0009 -0.0001" />
      <mass value="1.725" />
      <inertia ixx="0.0018" ixy="-0.0001" ixz="-0.0" iyy="0.0042" iyz="0.0" izz="0.0042" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/wrist_flex_link.dae" />
      </geometry>
      <material name="11">
        <color rgba="0.086 0.506 0.767 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/wrist_flex_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="wrist_flex_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0.1245 0 0" />
    <parent link="forearm_roll_link" />
    <child link="wrist_flex_link" />
    <axis xyz="0 1 0" />
    <dynamics damping="1.0" />
    <limit effort="25.7" lower="-2.16" upper="2.16" velocity="2.268" />
  </joint>
  <link name="wrist_roll_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0095 0.0004 -0.0002" />
      <mass value="0.1354" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/wrist_roll_link.dae" />
      </geometry>
      <material name="12">
        <color rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/wrist_roll_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="wrist_roll_joint" type="continuous">
    <origin rpy="0 0 0" xyz="0.1385 0 0" />
    <parent link="wrist_flex_link" />
    <child link="wrist_roll_link" />
    <axis xyz="1 0 0" />
    <limit effort="7.36" velocity="2.268" />
    <dynamics damping="5.0" />
  </joint>
  <link name="gripper_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0900 -0.0001 -0.0017" />
      <mass value="1.5175" />
      <inertia ixx="0.0013" ixy="-0.0" ixz="0.0" iyy="0.0019" iyz="-0.0" izz="0.0024" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/gripper_link.dae" />
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/gripper_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="gripper_axis" type="fixed">
    <origin rpy="0 0 0" xyz="0.16645 0 0" />
    <parent link="wrist_roll_link" />
    <child link="gripper_link" />
    <axis xyz="0 1 0" />
  </joint>
  <link name="r_gripper_finger_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01 0 0" />
      <mass value="0.0798" />
      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0.101425 0" />
      <geometry>
        <mesh filename="../meshes/r_gripper_finger_link_opt.stl" />
      </geometry>
      <material name="13">
        <color rgba="0.356 0.361 0.376 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.101425 0" />
      <geometry>
        <mesh filename="../meshes/r_gripper_finger_link_opt.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="r_gripper_finger_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0.015425 0" />
    <parent link="gripper_link" />
    <child link="r_gripper_finger_link" />
    <axis xyz="0 1 0" />
  <limit effort="60" lower="0.0" upper="0.05" velocity="0.05" /><dynamics damping="100.0" /></joint>
  <link name="l_gripper_finger_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.01 0 0" />
      <mass value="0.0798" />
      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.101425 0" />
      <geometry>
        <mesh filename="../meshes/l_gripper_finger_link_opt.stl" />
      </geometry>
      <material name="14">
        <color rgba="0.356 0.361 0.376 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.101425 0" />
      <geometry>
        <mesh filename="../meshes/l_gripper_finger_link_opt.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="l_gripper_finger_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 -0.015425 0" />
    <parent link="gripper_link" />
    <child link="l_gripper_finger_link" />
    <axis xyz="0 -1 0" />
  <limit effort="60" lower="0.0" upper="0.05" velocity="0.05" /><dynamics damping="100.0" /></joint>
  <link name="bellows_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0191320000286228 -1.67219873481315E-16 -0.134861625443387" />
      <mass value="0.169374038216602" />
      <inertia ixx="0.00331159128762117" ixy="-8.9230964321455E-18" ixz="-5.38622201018293E-08" iyy="0.00174447292786627" iyz="-8.06964979976371E-17" izz="0.00169417568121457" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/bellows_link.STL" />
      </geometry>
      <material name="15">
        <color rgba="0 0 0 1" />
      </material>
    </visual>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/bellows_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="bellows_joint" type="prismatic">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="torso_lift_link" />
    <child link="bellows_link" />
    <axis xyz="0 0 -1" />
  <limit effort="5.0" lower="0" upper="0.4" velocity="0.1" /></joint>
  <link name="bellows_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0191320000286228 -1.67219873481315E-16 -0.134861625443387" />
      <mass value="0.169374038216602" />
      <inertia ixx="0.00331159128762117" ixy="-8.9230964321455E-18" ixz="-5.38622201018293E-08" iyy="0.00174447292786627" iyz="-8.06964979976371E-17" izz="0.00169417568121457" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/bellows_link.STL" />
      </geometry>
      <material name="16">
        <color rgba="0 0 0 1" />
      </material>
    </visual>
    <collision group="2">
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/bellows_link_collision.obj" />
      </geometry>
    </collision>
  </link>
  <joint name="bellows_joint2" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0" />
    <parent link="torso_lift_link" />
    <child link="bellows_link2" />
  </joint>
  <link name="estop_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.002434512737072 -0.00330608315239905 0.00665139196650039" />
      <mass value="0.00196130439134723" />
      <inertia ixx="3.02810026604417E-07" ixy="-1.5862023118056E-08" ixz="3.16561396557437E-08" iyy="2.93322917127605E-07" iyz="-4.28833522751273E-08" izz="2.28513272627183E-07" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/estop_link.dae" />
      </geometry>
      <material name="17">
        <color rgba="0.8 0 0 1" />
      </material>
    </visual>
  </link>
  <joint name="estop_joint" type="fixed">
    <origin rpy="1.5708 0 0" xyz="-0.12465 0.23892 0.31127" />
    <parent link="base_link" />
    <child link="estop_link" />
    <axis xyz="0 0 0" />
  </joint>
  <link name="laser_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0306228970175641 0.0007091682908278 0.0551974119471302" />
      <mass value="0.00833634573995571" />
      <inertia ixx="1.01866461240801E-06" ixy="-5.88447626567756E-08" ixz="7.83857244757914E-08" iyy="5.10039589974707E-07" iyz="-7.12664289617235E-09" izz="1.28270671527309E-06" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/laser_link.STL" />
      </geometry>
      <material name="18">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
  </link>
  <joint name="laser_joint" type="fixed">
    <origin rpy="3.14159265359 0 0" xyz="0.235 0 0.2878" />
    <parent link="base_link" />
    <child link="laser_link" />
    <axis xyz="0 0 0" />
  </joint>
  <link name="torso_fixed_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0722 0.0057 0.2656" />
      <mass value="130.2775" />
      <inertia ixx="0.3861" ixy="0.0015" ixz="-0.0102" iyy="0.3388" iyz="0.0117" izz="0.1018" />
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0" />
      <geometry>
        <mesh filename="../meshes/torso_fixed_link.dae" />
      </geometry>
      <material name="">
        <color rgba="0.086 0.506 0.767 1" />
      </material>
    </visual>
  </link>
  <joint name="torso_fixed_joint" type="fixed">
    <origin rpy="-6.12303176911189E-17 0 0" xyz="-0.086875 0 0.377425" />
    <parent link="base_link" />
    <child link="torso_fixed_link" />
    <axis xyz="0 1 0" />
  </joint>
  <link name="head_camera_link" />
  <joint name="head_camera_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.055 0 0.0225" />
    <parent link="head_tilt_link" />
    <child link="head_camera_link" />
  </joint>
  <link name="head_camera_rgb_frame" />
  <joint name="head_camera_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.02 0" />
    <parent link="head_camera_link" />
    <child link="head_camera_rgb_frame" />
  </joint>
  <link name="head_camera_rgb_optical_frame" />
  <joint name="head_camera_rgb_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
    <parent link="head_camera_rgb_frame" />
    <child link="head_camera_rgb_optical_frame" />
  </joint>
  <link name="head_camera_depth_frame" />
  <joint name="head_camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.045 0" />
    <parent link="head_camera_link" />
    <child link="head_camera_depth_frame" />
  </joint>
  <link name="head_camera_depth_optical_frame" />
  <joint name="head_camera_depth_optical_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0" />
    <parent link="head_camera_depth_frame" />
    <child link="head_camera_depth_optical_frame" />
  </joint>
</robot>
