<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from sawyer.urdf.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="sawyer" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- <mujoco>
      <compiler meshdir="./mesh/sawyer/" balanceinertia="true"/>
  </mujoco> -->
  <material name="black">
    <color rgba="0 0 0 1"/>
  </material>
  <material name="darkgray">
    <color rgba=".2 .2 .2 1"/>
  </material>
  <material name="darkred">
    <color rgba=".5 .1 .1 1"/>
  </material>
  <material name="sawyer_red">
    <color rgba=".5 .1 .1 1"/>
  </material>
  <material name="sawyer_gray">
    <color rgba="0.75294 0.75294 0.75294 1"/>
  </material>
  <link name="base"/>
  <link name="torso">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <material name="darkgray">
        <color rgba=".2 .2 .2 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
      <mass value="0.0001"/>
      <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
    </inertial>
  </link>
  <link name="pedestal">
    <visual>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0.26 0.345 -0.91488"/>
      <geometry>
        <mesh filename="visual/pedestal.DAE"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 -1.57079632679" xyz="0.26 0.345 -0.91488"/>
      <geometry>
        <mesh filename="collision/pedestal.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.02 0 -0.29"/>
      <geometry>
        <cylinder length="0.62" radius="0.18"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 -0.5"/>
      <mass value="60.86397744"/>
      <inertia ixx="5.0635929" ixy="0.00103417" ixz="0.80199628" iyy="6.08689388" iyz="0.00105311" izz="4.96191932"/>
    </inertial>
  </link>
  <link name="controller_box">
    <collision>
      <origin rpy="0 0 0" xyz="-0.325 0 -0.38"/>
      <geometry>
        <box size="0.22 0.4 0.53"/>
      </geometry>
    </collision>
  </link>
  <joint name="controller_box_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <parent link="base"/>
    <child link="controller_box"/>
  </joint>
  <link name="pedestal_feet">
    <collision>
      <origin rpy="0 0 0" xyz="-0.1225 0 -0.758"/>
      <geometry>
        <box size="0.77 0.7 0.31"/>
      </geometry>
    </collision>
  </link>
  <joint name="pedestal_feet_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <parent link="base"/>
    <child link="pedestal_feet"/>
  </joint>
  <joint name="pedestal_fixed" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <parent link="base"/>
    <child link="pedestal"/>
  </joint>
  <joint name="right_arm_mount" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
    <parent link="base"/>
    <child link="right_arm_base_link"/>
  </joint>
  <joint name="torso_t0" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base"/>
    <child link="torso"/>
  </joint>
  <link name="right_arm_base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0006241 -2.8025E-05 0.065404"/>
      <mass value="2.0687"/>
      <inertia ixx="0.0067599" ixy="-4.2024E-05" ixz="-6.1904E-07" iyy="0.0067877" iyz="1.5888E-05" izz="0.0074031"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/base.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.12"/>
      <geometry>
        <cylinder length="0.24" radius="0.08"/>
      </geometry>
    </collision>
  </link>
  <link name="right_l0">
    <inertial>
      <origin rpy="0 0 0" xyz="0.024366 0.010969 0.14363"/>
      <mass value="5.3213"/>
      <inertia ixx="0.053314" ixy="0.0047093" ixz="0.011734" iyy="0.057902" iyz="0.0080179" izz="0.023659"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l0.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l0.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0.08 0 0.23"/>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j0" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.08"/>
    <parent link="right_arm_base_link"/>
    <child link="right_l0"/>
    <axis xyz="0 0 1"/>
    <limit effort="80.0" lower="-3.0503" upper="3.0503" velocity="1.74"/>
  </joint>
  <link name="head">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0053207 -2.6549E-05 0.1021"/>
      <mass value="1.5795"/>
      <inertia ixx="0.011833" ixy="-4.4669E-06" ixz="4.9425E-05" iyy="0.0082709" iyz="4.2124E-07" izz="0.0049661"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/head.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/head.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.08"/>
      <geometry>
        <sphere radius="0.18"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_pan" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.2965"/>
    <parent link="right_l0"/>
    <child link="head"/>
    <axis xyz="0 0 1"/>
    <limit effort="8" lower="-5.0952" upper="0.9064" velocity="1.8"/>
  </joint>
  <link name="right_torso_itb">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
      <mass value="0.0001"/>
      <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="right_torso_itb" type="fixed">
    <origin rpy="0 -1.57079632679 0" xyz="-.055 0 .22"/>
    <parent link="right_l0"/>
    <child link="right_torso_itb"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="right_l1">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0030849 -0.026811 0.092521"/>
      <mass value="4.505"/>
      <inertia ixx="0.022398" ixy="-0.00023986" ixz="-0.00029362" iyy="0.014613" iyz="-0.0060875" izz="0.017295"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l1.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l1.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.1225"/>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j1" type="revolute">
    <origin rpy="-1.57079632679 1.57079632679 0" xyz="0.081 0.05 0.237"/>
    <parent link="right_l0"/>
    <child link="right_l1"/>
    <axis xyz="0 0 1"/>
    <limit effort="80.0" lower="-3.8095" upper="2.2736" velocity="1.328"/>
  </joint>
  <link name="right_l2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00016044 -0.014967 0.13582"/>
      <mass value="1.745"/>
      <inertia ixx="0.025506" ixy="4.4101E-06" ixz="1.4955E-05" iyy="0.0253" iyz="-0.0033204" izz="0.0034179"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l2.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l2.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.08"/>
      <geometry>
        <cylinder length="0.34" radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j2" type="revolute">
    <origin rpy="1.57079632679 0 0" xyz="0 -0.14 0.1425"/>
    <parent link="right_l1"/>
    <child link="right_l2"/>
    <axis xyz="0 0 1"/>
    <limit effort="40.0" lower="-3.0426" upper="3.0426" velocity="1.957"/>
  </joint>
  <link name="right_l3">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0048135 -0.0281 -0.084154"/>
      <mass value="2.5097"/>
      <inertia ixx="0.01016" ixy="-9.7452E-06" ixz="0.00026624" iyy="0.0065685" iyz="0.0030316" izz="0.0069078"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l3.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l3.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 -0.01 -0.12"/>
      <geometry>
        <sphere radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j3" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0 -0.042 0.26"/>
    <parent link="right_l2"/>
    <child link="right_l3"/>
    <axis xyz="0 0 1"/>
    <limit effort="40.0" lower="-3.0439" upper="3.0439" velocity="1.957"/>
  </joint>
  <link name="right_l4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0018844 0.0069001 0.1341"/>
      <mass value="1.1136"/>
      <inertia ixx="0.013557" ixy="1.8109E-05" ixz="0.00013523" iyy="0.013555" iyz="0.0010561" izz="0.0013658"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l4.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l4.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.11"/>
      <geometry>
        <cylinder length="0.30" radius="0.045"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j4" type="revolute">
    <origin rpy="1.57079632679 0 0" xyz="0 -0.125 -0.1265"/>
    <parent link="right_l3"/>
    <child link="right_l4"/>
    <axis xyz="0 0 1"/>
    <limit effort="9.0" lower="-2.9761" upper="2.9761" velocity="3.485"/>
  </joint>
  <link name="right_arm_itb">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000000 0.000000 0.000000"/>
      <mass value="0.0001"/>
      <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="right_arm_itb" type="fixed">
    <origin rpy="0 -1.57079632679 0" xyz="-.055 0 .075"/>
    <parent link="right_l4"/>
    <child link="right_arm_itb"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="right_l5">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0061133 -0.023697 0.076416"/>
      <mass value="1.5625"/>
      <inertia ixx="0.0047328" ixy="0.00011526" ixz="4.6269E-05" iyy="0.0029676" iyz="-0.0011557" izz="0.0031762"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l5.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l5.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0.1"/>
      <geometry>
        <sphere radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j5" type="revolute">
    <origin rpy="-1.57079632679 0 0" xyz="0 0.031 0.275"/>
    <parent link="right_l4"/>
    <child link="right_l5"/>
    <axis xyz="0 0 1"/>
    <limit effort="9.0" lower="-2.9761" upper="2.9761" velocity="3.485"/>
  </joint>
  <link name="right_hand_camera"/>
  <joint name="right_hand_camera" type="fixed">
    <origin rpy="0 1.57079632679 0" xyz="0.039552 -0.033 0.0695"/>
    <parent link="right_l5"/>
    <child link="right_hand_camera"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="right_wrist"/>
  <joint name="right_wrist" type="fixed">
    <origin rpy="1.57079632679 0 0" xyz="0 0 0.10541"/>
    <parent link="right_l5"/>
    <child link="right_wrist"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="right_l6">
    <inertial>
      <origin rpy="0 0 0" xyz="-8.0726E-06 0.0085838 -0.0049566"/>
      <mass value="0.3292"/>
      <inertia ixx="0.00031105" ixy="1.4771E-06" ixz="-3.7074E-07" iyy="0.00021549" iyz="-8.4533E-06" izz="0.00035976"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/visual/l6.DAE"/>
      </geometry>
      <material name="sawyer_red"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://cito/model/mesh/sawyer/collision/l6.stl"/>
      </geometry>    
      <origin rpy="0 0 0" xyz="0 0.015 -0.01"/>
      <geometry>
        <cylinder length="0.05" radius="0.055"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j6" type="revolute">
    <origin rpy="-1.57079632679 -0.17453 3.1416" xyz="0 -0.11 0.1053"/>
    <parent link="right_l5"/>
    <child link="right_l6"/>
    <axis xyz="0 0 1"/>
    <limit effort="9.0" lower="-4.7124" upper="4.7124" velocity="4.545"/>
  </joint>
  <link name="right_hand">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.02"/>
      <geometry>
        <cylinder length="0.03" radius="0.035"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
      <mass value="1.0E-08"/>
      <inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
    </inertial>
  </link>
  <joint name="right_hand" type="fixed">
    <origin rpy="0 0 1.570796" xyz="0 0 0.0245"/>
    <axis xyz="0 0 1"/>
    <parent link="right_l6"/>
    <child link="right_hand"/>
  </joint>
  <link name="right_l1_2">
    <inertial>
      <origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
      <mass value="1.0E-08"/>
      <inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.035"/>
      <geometry>
        <cylinder length="0.14" radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j1_2" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="right_l1"/>
    <child link="right_l1_2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="right_l2_2">
    <inertial>
      <origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
      <mass value="1.0E-08"/>
      <inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.26"/>
      <geometry>
        <sphere radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j2_2" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="right_l2"/>
    <child link="right_l2_2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="right_l4_2">
    <inertial>
      <origin rpy="0 0 0" xyz="1.0E-08 1.0E-08 1.0E-08"/>
      <mass value="1.0E-08"/>
      <inertia ixx="1.0E-08" ixy="1.0E-08" ixz="1.0E-08" iyy="1.0E-08" iyz="1.0E-08" izz="1.0E-08"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.01 0.26"/>
      <geometry>
        <sphere radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_j4_2" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="right_l4"/>
    <child link="right_l4_2"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="screen">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.24 0.14 0.002"/>
      </geometry>
      <material name="darkgray"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.0001"/>
      <inertia ixx="1e-08" ixy="0" ixz="0" iyy="1e-08" iyz="0" izz="1e-08"/>
    </inertial>
  </link>
  <joint name="display_joint" type="fixed">
    <origin rpy="1.57079632679 0 1.57079632679" xyz="0.03 0.0 0.105"/>
    <parent link="head"/>
    <child link="screen"/>
  </joint>
  <link name="head_camera"/>
  <joint name="head_camera" type="fixed">
    <origin rpy="-2.1293 0 -1.57079632679" xyz="0.0228027 0 0.216572"/>
    <parent link="head"/>
    <child link="head_camera"/>
    <axis xyz="0 0 0"/>
  </joint>
</robot>
