<?xml version="1.0" ?><!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from panda_arm.inertial.urdf.xacro  | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="panda">
 <mujoco>
  <compiler fusestatic="false" balanceinertia="true" discardvisual="false" meshdir="../meshes_panda/for_mujoco/"/>
 </mujoco>
 <link name="world"/>
 <joint name="panda_joint_world" type="fixed">
  <parent link="world"/>
  <child link="panda_link0"/>
  <origin rpy="0 0 0" xyz="0 0 0"/>
 </joint>
 <link name="panda_link0">
  <inertial>
   <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
   <mass value="5"/>
   <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link0v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link0.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </link>
 <link name="panda_link1">
  <inertial>
   <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
   <mass value="3.4525"/>
   <inertia ixx="0.02183" ixy="0" ixz="0" iyy="0.007703" iyz="-0.003887" izz="0.02083"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link1v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link1.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="-2.9671" upper="2.9671" velocity="2.3925"/>
 </joint>
 <link name="panda_link2">
  <inertial>
   <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
   <mass value="3.4821"/>
   <inertia ixx="0.02076" ixy="0" ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link2v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link2.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="-1.8326" upper="1.8326" velocity="2.3925"/>
 </joint>
 <link name="panda_link3">
  <inertial>
   <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
   <mass value="4.05623"/>
   <inertia ixx="0.03204" ixy="0" ixz="0" iyy="0.00972" iyz="0.006227" izz="0.03042"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link3v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link3.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="-2.9671" upper="2.9671" velocity="2.3925"/>
 </joint>
 <link name="panda_link4">
  <inertial>
   <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
   <mass value="3.4822"/>
   <inertia ixx="0.02178" ixy="0" ixz="0" iyy="0.02075" iyz="-0.003625" izz="0.007785"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link4v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link4.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="0.0175"/>
  <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="-3.1416" upper="0.0873" velocity="2.3925"/>
 </joint>
 <link name="panda_link5">
  <inertial>
   <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
   <mass value="2.1633"/>
   <inertia ixx="0.01287" ixy="0" ixz="0" iyy="0.005708" iyz="-0.003946" izz="0.01112"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link5v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link5.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="-2.9671" upper="2.9671" velocity="2.8710"/>
 </joint>
 <link name="panda_link6">
  <inertial>
   <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
   <mass value="2.3466"/>
   <inertia ixx="0.006509" ixy="0" ixz="0" iyy="0.006259" iyz="0.00031891" izz="0.004527"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link6v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link6.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="-0.0873" upper="3.8223" velocity="2.8710"/>
 </joint>
 <link name="panda_link7">
  <inertial>
   <origin rpy="0 0 0" xyz="0 0 0.02"/>
   <mass value="3.129"/>
   <inertia ixx="0.01464" ixy="0.0005912" ixz="0" iyy="0.01465" iyz="0" izz="0.002872"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="link7v.stl"/>
   </geometry>
   <material name="panda_white"/>
  </visual>
  <collision>
   <geometry>
    <mesh filename="link7.stl"/>
   </geometry>
   <material name="panda_white"/>
  </collision>
 </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="-2.9671" upper="2.9671" velocity="2.8710"/>
 </joint>
 <link name="panda_link8">
  <inertial>
   <origin rpy="0 0 0" xyz="-0.0 0 0.0"/>
   <mass value=".1"/>
   <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
  </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>

 <!-- PANDA HAND -->
 <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">
  <inertial>
   <origin rpy="0 0 0" xyz="-0.0 0 0.00"/>
   <mass value=".73"/>
   <inertia ixx=".001" ixy="0" ixz="0" iyy=".0025" iyz="0" izz=".0017"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="handv.stl"/>
   </geometry>
  </visual>
  <collision>
   <geometry>
    <mesh filename="hand.stl"/>
   </geometry>
  </collision>
 </link>
 <link name="panda_leftfinger">
  <inertial>
   <origin rpy="0 0 0" xyz="0.000 0 0.0000"/>
   <mass value="0.001"/>
   <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
  </inertial>
  <visual>
   <geometry>
    <mesh filename="fingerv.stl"/>
   </geometry>
  </visual>
  <collision>
   <geometry>
    <mesh filename="finger.stl"/>
   </geometry>
  </collision>
 </link>
 <link name="panda_rightfinger">
  <inertial>
   <origin rpy="0 0 0" xyz="0.000 0 0.0000"/>
   <mass value="0.001"/>
   <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
  </inertial>
  <visual>
   <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
   <geometry>
    <mesh filename="fingerv.stl"/>
   </geometry>
  </visual>
  <collision>
   <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
   <geometry>
    <mesh filename="finger.stl"/>
   </geometry>
  </collision>
 </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>


 <!-- MATERIALS -->
 <material name="panda_white">
  <color rgba="1. 1. 1. 1."/>
 </material>
 <material name="aluminum">
  <color rgba="0.5 0.5 0.5 1"/>
 </material>

</robot>
