robots/Rethink_Robotics_Sawyer/urdf/sawyer_v2.urdf

<?xml version="1.0" encoding="UTF-8"?>
<robot name="sawyer_v2">
  <joint name="controller_box_fixed" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="base"/>
    <child link="controller_box"/>
  </joint>
  <joint name="display_joint" type="fixed">
    <origin xyz="0.03 0. 0.1050001" rpy="1.5707963 0. 1.5707964"/>
    <parent link="head"/>
    <child link="screen"/>
  </joint>
  <joint name="head_head_camera" type="fixed">
    <origin xyz="0.0228027 0. 0.2165721" rpy="-1.5707963 -0.5585038 3.1415925"/>
    <parent link="head"/>
    <child link="sawyer_head_camera"/>
  </joint>
  <joint name="head_pan" type="revolute">
    <origin xyz="0. 0. 0.2965" rpy="0. 0. 0."/>
    <parent link="right_l0"/>
    <child link="head"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-5.0951992" upper="0.9064" effort="8." velocity="1.8"/>
  </joint>
  <joint name="pedestal_feet_fixed" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="base"/>
    <child link="pedestal_feet"/>
  </joint>
  <joint name="pedestal_fixed" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="base"/>
    <child link="pedestal"/>
  </joint>
  <joint name="right_arm_mount" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="base"/>
    <child link="right_arm_base_link"/>
  </joint>
  <joint name="right_connector_plate_base_joint" type="fixed">
    <origin xyz="0. 0. 0.0018" rpy="0. 0. 0."/>
    <parent link="right_gripper_base"/>
    <child link="right_connector_plate_base"/>
  </joint>
  <joint name="right_connector_plate_mount_joint" type="fixed">
    <origin xyz="0. -0. 0.0176001" rpy="0. 0. 0."/>
    <parent link="right_connector_plate_base"/>
    <child link="right_connector_plate_mount"/>
  </joint>
  <joint name="right_electric_gripper_base_joint" type="fixed">
    <origin xyz="0. -0. -0.0000001" rpy="0. 0. 0."/>
    <parent link="right_connector_plate_mount"/>
    <child link="right_electric_gripper_base"/>
  </joint>
  <joint name="right_gripper_base_joint" type="fixed">
    <origin xyz="0. 0. -0.005" rpy="-0.0000001 0. -0. "/>
    <parent link="sawyer_right_hand"/>
    <child link="right_gripper_base"/>
  </joint>
  <joint name="right_gripper_l_finger_joint" type="prismatic">
    <origin xyz="0.003 -0.0015 0.04552" rpy="-0. 0.0000001 -0.0000002"/>
    <parent link="right_electric_gripper_base"/>
    <child link="right_gripper_l_finger"/>
    <axis xyz="0. 1. 0."/>
    <limit lower="0." upper="0.020833" effort="20." velocity="5."/>
  </joint>
  <joint name="right_gripper_l_finger_tip_joint" type="fixed">
    <origin xyz="-0. 0.01725 0.075 " rpy="0.0000001 0. -0.0000001"/>
    <parent link="right_gripper_l_finger"/>
    <child link="right_gripper_l_finger_tip"/>
  </joint>
  <joint name="right_gripper_r_finger_joint" type="prismatic">
    <origin xyz="0.003 0.0015 0.04552" rpy="-0. 0.0000001 -0.0000002"/>
    <parent link="right_electric_gripper_base"/>
    <child link="right_gripper_r_finger"/>
    <axis xyz="0. 1. 0."/>
    <limit lower="-0.020833" upper="0." effort="340282346638528859811704183484516925440." velocity="5."/>
  </joint>
  <joint name="right_gripper_r_finger_tip_joint" type="fixed">
    <origin xyz="-0. -0.01725 0.0750001" rpy="0. -0.0000001 0. "/>
    <parent link="right_gripper_r_finger"/>
    <child link="right_gripper_r_finger_tip"/>
  </joint>
  <joint name="right_gripper_tip_joint" type="fixed">
    <origin xyz="0. 0. 0.14062" rpy="0. 0. 0."/>
    <parent link="right_gripper_base"/>
    <child link="right_gripper_tip"/>
  </joint>
  <joint name="right_j0" type="revolute">
    <origin xyz="0. 0. 0.08" rpy="0. 0. 0."/>
    <parent link="right_arm_base_link"/>
    <child link="right_l0"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-3.0502998" upper="3.0502998" effort="80." velocity="1.74"/>
  </joint>
  <joint name="right_j1" type="revolute">
    <origin xyz="0.081 0.05 0.237" rpy="-1.5707964 1.5707963 0. "/>
    <parent link="right_l0"/>
    <child link="right_l1"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-3.8094999" upper="2.2736" effort="80." velocity="1.3279999"/>
  </joint>
  <joint name="right_j1_2" type="fixed">
    <origin xyz="-0. 0. 0." rpy="0. 0. -0.0000167"/>
    <parent link="right_l1"/>
    <child link="right_l1_2"/>
  </joint>
  <joint name="right_j2" type="revolute">
    <origin xyz="-0.0000024 -0.14 0.1425 " rpy="1.5707964 0. -0.0000167"/>
    <parent link="right_l1"/>
    <child link="right_l2"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-3.0425998" upper="3.0425998" effort="40." velocity="1.957"/>
  </joint>
  <joint name="right_j2_2" type="fixed">
    <origin xyz="-0. 0.0000001 0.0000001" rpy="0. 0.0000001 -0.0000032"/>
    <parent link="right_l2"/>
    <child link="right_l2_2"/>
  </joint>
  <joint name="right_j3" type="revolute">
    <origin xyz="-0.0000001 -0.042 0.2600001" rpy="-1.5707963 0.0000001 -0.0000032"/>
    <parent link="right_l2"/>
    <child link="right_l3"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-3.0438999" upper="3.0438999" effort="40." velocity="1.957"/>
  </joint>
  <joint name="right_j4" type="revolute">
    <origin xyz="-0.0000002 -0.1250001 -0.1265 " rpy="1.5707961 0.0000002 -0.0000014"/>
    <parent link="right_l3"/>
    <child link="right_l4"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-2.9760996" upper="2.9760996" effort="9." velocity="3.4849998"/>
  </joint>
  <joint name="right_j4_2" type="fixed">
    <origin xyz="-0. -0.0000001 0. " rpy="0.0000001 -0.0000001 -0.0000002"/>
    <parent link="right_l4"/>
    <child link="right_l4_2"/>
  </joint>
  <joint name="right_j5" type="revolute">
    <origin xyz="-0. 0.0309999 0.2750001" rpy="-1.5707963 -0.0000001 -0.0000002"/>
    <parent link="right_l4"/>
    <child link="right_l5"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-2.9760996" upper="2.9760996" effort="9." velocity="3.4849998"/>
  </joint>
  <joint name="right_j6" type="revolute">
    <origin xyz="-0. -0.11 0.1053" rpy="-1.5707963 -0.17453 -3.1415854"/>
    <parent link="right_l5"/>
    <child link="right_l6"/>
    <axis xyz="0. 0. 1."/>
    <limit lower="-4.7123991" upper="4.7123991" effort="9." velocity="4.5450003"/>
  </joint>
  <joint name="right_l0_right_torso_itb" type="fixed">
    <origin xyz="-0.055 -0. 0.22 " rpy="0. -1.5707963 0. "/>
    <parent link="right_l0"/>
    <child link="sawyer_right_torso_itb"/>
  </joint>
  <joint name="right_l4_right_arm_itb" type="fixed">
    <origin xyz="-0.055 -0.0000001 0.075 " rpy="-0.0000002 -1.5707963 0. "/>
    <parent link="right_l4"/>
    <child link="sawyer_right_arm_itb"/>
  </joint>
  <joint name="right_l5_right_hand_camera" type="fixed">
    <origin xyz="0.039552 -0.033 0.0695 " rpy="-3.1415925 0. -3.1415925"/>
    <parent link="right_l5"/>
    <child link="sawyer_right_hand_camera"/>
  </joint>
  <joint name="right_l5_right_wrist" type="fixed">
    <origin xyz="-0. -0. 0.10541" rpy="1.5707963 0. 1.5707964"/>
    <parent link="right_l5"/>
    <child link="sawyer_right_wrist"/>
  </joint>
  <joint name="right_l6_right_hand" type="fixed">
    <origin xyz="0. -0. 0.0245001" rpy="0.0000001 -0.0000001 1.570796 "/>
    <parent link="right_l6"/>
    <child link="sawyer_right_hand"/>
  </joint>
  <joint name="sawyer_root_joint" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="sawyer"/>
    <child link="sawyer_sawyer"/>
  </joint>
  <joint name="sawyer_sawyer_root_joint" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="sawyer_sawyer"/>
    <child link="base"/>
  </joint>
  <joint name="torso_t0" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="base"/>
    <child link="torso"/>
  </joint>
  <link name="base">
    <inertial>
      <origin xyz="-inf -inf -inf" rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
    </inertial>
  </link>
  <link name="controller_box">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0.325 0. -0.38 " rpy="0. 0. 0."/>
      <geometry>
        <box size="0.22 0.4 0.53"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.325 0. -0.38 " rpy="0. 0. 0."/>
      <geometry>
        <box size="0.22 0.4 0.53"/>
      </geometry>
    </collision>
  </link>
  <link name="head">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="1.5795"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0.0000001" rpy="0. -0. 0."/>
      <geometry>
        <mesh filename="meshes/head_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
  </link>
  <link name="pedestal">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="60.8639793"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0.26 0.345 -0.91488" rpy="1.5707964 0. -1.5707964"/>
      <geometry>
        <mesh filename="meshes/pedestal_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.02 0. -0.29" rpy="0. 0. 0."/>
      <geometry>
        <cylinder radius="0.18" length="0.62"/>
      </geometry>
    </collision>
  </link>
  <link name="pedestal_feet">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <collision>
      <origin xyz="-0.1225 0. -0.758 " rpy="0. 0. 0."/>
      <geometry>
        <box size="0.77 0.7 0.31"/>
      </geometry>
    </collision>
  </link>
  <link name="right_arm_base_link">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="2.0687001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/right_arm_base_link_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0.12" rpy="0. 0. 0."/>
      <geometry>
        <cylinder radius="0.08" length="0.24"/>
      </geometry>
    </collision>
  </link>
  <link name="right_connector_plate_base">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0. 0. 0.0000002" rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/right_connector_plate_base_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. -0. 0.0135001" rpy="0. 0. 0."/>
      <geometry>
        <cylinder radius="0.04" length="0.0302"/>
      </geometry>
    </collision>
  </link>
  <link name="right_connector_plate_mount">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
    </inertial>
  </link>
  <link name="right_electric_gripper_base">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000002"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0. 0. 0." rpy="-0. 0.0000001 -0.0000002"/>
      <geometry>
        <mesh filename="meshes/right_electric_gripper_base_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.004 -0. 0.025" rpy="1.5707964 -0.0000002 3.1415925"/>
      <geometry>
        <cylinder radius="0.029" length="0.1"/>
      </geometry>
    </collision>
  </link>
  <link name="right_gripper_base">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.47"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
    </inertial>
  </link>
  <link name="right_gripper_l_finger">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. -0. -0." rpy="-0.0000001 -0. 3.1415925"/>
      <geometry>
        <mesh filename="meshes/right_gripper_l_finger_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="-0. 0.01725 0.04 " rpy="-0.0000001 -0. 3.1415925"/>
      <geometry>
        <box size="0.01 0.0135 0.075 "/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="-0.005 -0.003 0.0083" rpy="-0.0000001 -0. 3.1415925"/>
      <geometry>
        <box size="0.01 0.05 0.017"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. 0.01725 0.04 " rpy="-0.0000001 -0. 3.1415925"/>
      <geometry>
        <box size="0.01 0.0135 0.075 "/>
      </geometry>
    </collision>
  </link>
  <link name="right_gripper_l_finger_tip">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0. -0. -0." rpy="-0.0000001 0.0000003 -3.1415923"/>
      <geometry>
        <mesh filename="meshes/right_gripper_l_finger_tip_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="-0. -0.0045 -0.015 " rpy="-0.0000001 0.0000003 -3.1415923"/>
      <geometry>
        <box size="0.016 0.007 0.037"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. -0.0045 -0.015 " rpy="-0.0000001 0.0000003 -3.1415923"/>
      <geometry>
        <box size="0.016 0.007 0.037"/>
      </geometry>
    </collision>
  </link>
  <link name="right_gripper_r_finger">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0. -0. 0.0000001" rpy="0. -0.0000001 0. "/>
      <geometry>
        <mesh filename="meshes/right_gripper_r_finger_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="-0. -0.01725 0.0400001" rpy="0. -0.0000001 0. "/>
      <geometry>
        <box size="0.01 0.0135 0.075 "/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.005 0.003 0.0083001" rpy="0. -0.0000001 0. "/>
      <geometry>
        <box size="0.01 0.05 0.017"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. -0.01725 0.0400001" rpy="0. -0.0000001 0. "/>
      <geometry>
        <box size="0.01 0.0135 0.075 "/>
      </geometry>
    </collision>
  </link>
  <link name="right_gripper_r_finger_tip">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. -0. -0." rpy="0.0000003 0. 0.0000001"/>
      <geometry>
        <mesh filename="meshes/right_gripper_r_finger_tip_visuals_mesh_0.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="0. 0.0045 -0.015 " rpy="0.0000003 0. 0.0000001"/>
      <geometry>
        <box size="0.016 0.007 0.037"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0.0045 -0.015 " rpy="0.0000003 0. 0.0000001"/>
      <geometry>
        <box size="0.016 0.007 0.037"/>
      </geometry>
    </collision>
  </link>
  <link name="right_gripper_tip">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000002"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
    </inertial>
  </link>
  <link name="right_l0">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="5.3213"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/right_l0_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.08 0. 0.23" rpy="0. 0. 0."/>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="right_l1">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="4.5050001"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0. 0. 0." rpy="0. 0. -0.0000167"/>
      <geometry>
        <mesh filename="meshes/right_l1_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <visual>
      <origin xyz="0.0058472 0.0333626 0.146406 " rpy="0. 0. -0.0000167"/>
      <geometry>
        <sphere radius="0.0444539"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. -0. 0.1225" rpy="0. 0. -0.0000167"/>
      <geometry>
        <sphere radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="right_l1_2">
    <collision>
      <origin xyz="0. 0. 0.035" rpy="0. 0. 0."/>
      <geometry>
        <cylinder radius="0.07" length="0.14"/>
      </geometry>
    </collision>
  </link>
  <link name="right_l2">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="1.745"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="-0. 0.0000001 0.0000001" rpy="0. 0.0000001 -0.0000032"/>
      <geometry>
        <mesh filename="meshes/right_l2_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. 0.0000001 0.0800001" rpy="0. 0.0000001 -0.0000032"/>
      <geometry>
        <cylinder radius="0.06" length="0.34"/>
      </geometry>
    </collision>
  </link>
  <link name="right_l2_2">
    <collision>
      <origin xyz="0. 0. 0.26" rpy="0. 0. 0."/>
      <geometry>
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      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
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        <mesh filename="meshes/right_l3_visuals.obj" scale="1. 1. 1."/>
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      <origin xyz="-0.0000001 -0.0100001 -0.12 " rpy="-0.0000001 0.0000002 -0.0000014"/>
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        <sphere radius="0.06"/>
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  <link name="right_l4">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="1.1136"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
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    <visual>
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        <mesh filename="meshes/right_l4_visuals.obj" scale="1. 1. 1."/>
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    </visual>
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      <origin xyz="-0. -0.0000001 0.11 " rpy="0.0000001 -0.0000001 -0.0000002"/>
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        <cylinder radius="0.045" length="0.3"/>
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  </link>
  <link name="right_l4_2">
    <collision>
      <origin xyz="0. 0.01 0.26" rpy="0. 0. 0."/>
      <geometry>
        <sphere radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <link name="right_l5">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="1.5625"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
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    <visual>
      <origin xyz="0. -0. 0." rpy="-0. -0. -0."/>
      <geometry>
        <mesh filename="meshes/right_l5_visuals.obj" scale="1. 1. 1."/>
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    </visual>
    <collision>
      <origin xyz="-0. -0. 0.1" rpy="-0. -0. -0."/>
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        <sphere radius="0.06"/>
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    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.3292"/>
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        <mesh filename="meshes/right_l6_visuals.obj" scale="1. 1. 1."/>
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    </visual>
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      <origin xyz="0. 0.015 -0.0099999" rpy="0.0000001 0.0000001 0.0000001"/>
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        <cylinder radius="0.055" length="0.05"/>
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    </collision>
  </link>
  <link name="sawyer"/>
  <link name="sawyer_head_camera">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
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  </link>
  <link name="sawyer_right_arm_itb">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.0001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
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  </link>
  <link name="sawyer_right_hand">
    <visual>
      <origin xyz="0. -0. 0.02" rpy="-0.0000001 0. -0. "/>
      <geometry>
        <cylinder radius="0.035" length="0.03"/>
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    </visual>
    <collision>
      <origin xyz="0. -0. 0.02" rpy="-0.0000001 0. -0. "/>
      <geometry>
        <cylinder radius="0.035" length="0.03"/>
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    </collision>
  </link>
  <link name="sawyer_right_hand_camera">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
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  </link>
  <link name="sawyer_right_torso_itb">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.0001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
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  </link>
  <link name="sawyer_right_wrist">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.000001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
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  </link>
  <link name="sawyer_sawyer"/>
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      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.0001"/>
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    <visual>
      <origin xyz="-0. -0. 0." rpy="0. -0. 0."/>
      <geometry>
        <box size="0.24 0.14 0.002"/>
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    </visual>
    <visual>
      <origin xyz="-0. -0. 0." rpy="0. -0. 0."/>
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        <sphere radius="0.001"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. -0. 0." rpy="0. -0. 0."/>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="torso">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.0001"/>
      <inertia ixx="0.00001" ixy="0." ixz="0." iyy="0.00001" iyz="0." izz="0.00001"/>
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    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
    </visual>
  </link>
</robot>