source/stretch/stretch_source.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ./stretch_urdf/SE3/xacro/stretch_description_SE3_eoa_wrist_dw3_tool_sg3.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="stretch">
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.087526 -0.001626 0.081009"/>
      <mass value="17.384389"/>
      <inertia ixx="0.160002" ixy="0.006758" ixz="0.004621" iyy="0.138068" iyz="0.002208" izz="0.228992"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/base_link_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="link_right_wheel">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0.02765"/>
      <mass value="0.20773"/>
      <inertia ixx="5.4E-05" ixy="0" ixz="0" iyy="5.4E-05" iyz="0" izz="5.1E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_right_wheel.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.0127"/>
      <geometry>
        <cylinder length="0.025" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_right_wheel" type="continuous">
    <origin rpy="-1.5708 1.2717E-16 4.8006E-17" xyz="0 -0.17035 0.0508"/>
    <parent link="base_link"/>
    <child link="link_right_wheel"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="21.75" friction="10.48" spring_reference="0" spring_stiffness="0"/>
  </joint>
  <link name="link_left_wheel">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 -0.02765"/>
      <mass value="0.20773"/>
      <inertia ixx="5.4E-05" ixy="0" ixz="0" iyy="5.4E-05" iyz="0" izz="5.1E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_left_wheel.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0127"/>
      <geometry>
        <cylinder length="0.025" radius="0.05"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_left_wheel" type="continuous">
    <origin rpy="-1.5708 2.6317E-16 -8.2057E-19" xyz="0 0.17035 0.0508"/>
    <parent link="base_link"/>
    <child link="link_left_wheel"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="21.75" friction="10.48" spring_reference="0" spring_stiffness="0"/>
  </joint>
  <link name="caster_link">
    <collision>
      <geometry>
        <sphere radius="0.032"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <surface>
        <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
        </friction>
      </surface>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/omni_wheel_m.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <mass value="0.01"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="caster_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_link"/>
    <origin rpy="-1.5707963267948966 0 0" xyz="-0.245 0.0 0.032"/>
    <axis xyz="0 0 1"/>
  </joint>
  <link name="link_mast">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000337 0.722201 0.002652"/>
      <mass value="1.764017"/>
      <inertia ixx="0.291286" ixy="0.004149" ixz="-0.000174" iyy="0.001226" iyz="0.000354" izz="0.291429"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_mast.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_mast_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_mast" type="fixed">
    <origin rpy="1.5708 0 4.8006E-17" xyz="-0.067 0.135 0.0284"/>
    <parent link="base_link"/>
    <child link="link_mast"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_lift">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.020369 0.03438 0.02236"/>
      <mass value="1.987167"/>
      <inertia ixx="0.006518" ixy="-0.001539" ixz="0.000371" iyy="0.004464" iyz="0.000392" izz="0.008092"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_lift.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_lift_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_lift" type="prismatic">
    <origin rpy="-1.5708 1.5708 0" xyz="-0.037385 0.1666 0"/>
    <parent link="link_mast"/>
    <child link="link_lift"/>
    <axis xyz="0 0 1"/>
    <!-- for now: hand copied range_m: from lift: from ~/repos/stretch_fleet/stretch-re1-1001/stretch_re1_factory_params.yaml -->
    <!--<limit effort="100" lower="0.0" upper="1.095" velocity="1.0"/>-->
    <!-- copied value did not reach the top of mesh model with GUI sliders and RViz -->
    <limit effort="100" lower="0.0" upper="1.1" velocity="1.0"/>
  </joint>
  <link name="link_arm_l4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000168 -0.000254 -0.125235"/>
      <mass value="0.235626"/>
      <inertia ixx="0.001518" ixy="-1E-06" ixz="3E-06" iyy="0.001519" iyz="3E-06" izz="0.000176"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l4.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l4_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_arm_l4" type="fixed">
    <origin rpy="1.5708 2.4721E-15 -1.5708" xyz="-0.2547 0 0"/>
    <parent link="link_lift"/>
    <child link="link_arm_l4"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_arm_l3">
    <inertial>
      <origin rpy="0 0 0" xyz="-1E-06 -0.000146 -0.11908"/>
      <mass value="0.146817"/>
      <inertia ixx="0.001081" ixy="0" ixz="0" iyy="0.001081" iyz="-1E-06" izz="7.7E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l3.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l3_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_arm_l3" type="prismatic">
    <origin rpy="7.68831233799385E-30 2.36716479416092E-30 2.29652732251143E-17" xyz="0 0 0.013"/>
    <parent link="link_arm_l4"/>
    <child link="link_arm_l3"/>
    <axis xyz="0 0 1"/>
    <!-- 0.13 = 0.52/4-->
    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
  </joint>
  <link name="link_arm_l2">
    <inertial>
      <origin rpy="0 0 0" xyz="0 -7.1E-05 -0.115635"/>
      <mass value="0.130565"/>
      <inertia ixx="0.000943" ixy="0" ixz="0" iyy="0.000943" iyz="0" izz="5.7E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l2.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l2_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_arm_l2" type="prismatic">
    <origin rpy="0 1.57655765344625E-30 -1.66533453693773E-16" xyz="0 0 0.013"/>
    <parent link="link_arm_l3"/>
    <child link="link_arm_l2"/>
    <axis xyz="0 0 1"/>
    <!-- 0.13 = 0.52/4-->
    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
  </joint>
  <link name="link_arm_l1">
    <inertial>
      <origin rpy="0 0 0" xyz="-1E-06 -0.000121 -0.113457"/>
      <mass value="0.113658"/>
      <inertia ixx="0.0008" ixy="0" ixz="0" iyy="0.0008" iyz="0" izz="4E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l1_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_arm_l1" type="prismatic">
    <origin rpy="-7.63746778746202E-30 -7.88860905221012E-31 1.11022302462516E-16" xyz="0 0 0.0129999999999981"/>
    <parent link="link_arm_l2"/>
    <child link="link_arm_l1"/>
    <axis xyz="0 0 1"/>
    <!-- 0.13 = 0.52/4-->
    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
  </joint>
  <link name="link_arm_l0">
    <inertial>
      <origin rpy="0 0 0" xyz="0.033681 -0.000847 -0.031723"/>
      <mass value="0.427734"/>
      <inertia ixx="0.001689" ixy="-2.8E-05" ixz="0.000483" iyy="0.002107" iyz="-1.1E-05" izz="0.000571"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l0.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_arm_l0_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_arm_l0" type="prismatic">
    <origin rpy="7.63746778746202E-30 -3.80121128864402E-15 2.62707547767438E-15" xyz="0 0 -0.0137499999991968"/>
    <parent link="link_arm_l1"/>
    <child link="link_arm_l0"/>
    <axis xyz="0 0 1"/>
    <!-- 0.13 = 0.52/4-->
    <limit effort="100" lower="0.0" upper="0.13" velocity="1.0"/>
  </joint>
  <link name="link_wrist_yaw">
    <inertial>
      <origin rpy="0 0 0" xyz="0 -3.9E-05 -0.016495"/>
      <mass value="0.054422"/>
      <inertia ixx="9E-06" ixy="0" ixz="0" iyy="9E-06" iyz="0" izz="7E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_wrist_yaw.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_wrist_yaw_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_wrist_yaw" type="revolute">
    <origin rpy="-1.5707963267949 0 3.14159265358978" xyz="0.0830000000000654 -0.0307500000000129 0"/>
    <parent link="link_arm_l0"/>
    <child link="link_wrist_yaw"/>
    <axis xyz="0 0 -1"/>
    <!--
      stowed to front ~225 deg: 3.15159 x 1.25 = 3.9395
      using 4.0
      stowed to back ~100 deg:  100 / 180 x 3.14159 = 1.7453
      using -1.75
    -->
    <limit effort="100" lower="-1.75" upper="4.0" velocity="1.0"/>
  </joint>
  <link name="link_head">
    <inertial>
      <origin rpy="0 0 0" xyz="0.047462 0.04451 0.016376"/>
      <mass value="0.681871"/>
      <inertia ixx="0.001023" ixy="0.000641" ixz="6.6E-05" iyy="0.002097" iyz="6.5E-05" izz="0.00281"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_head.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_head_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_head" type="fixed">
    <origin rpy="1.5707963267949 -1.5707963267949 3.1416" xyz="0 1.33 0"/>
    <parent link="link_mast"/>
    <child link="link_head"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_head_pan">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000422 0.013934 -0.0161"/>
      <mass value="0.062462"/>
      <inertia ixx="4.1E-05" ixy="-1E-06" ixz="1E-06" iyy="3.2E-05" iyz="-1.5E-05" izz="2.2E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_head_pan.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_head_pan_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_head_pan" type="revolute">
    <origin rpy="0 0 1.5707963267949" xyz="0.135 0.0731000000000001 -0.00319621125547975"/>
    <parent link="link_head"/>
    <child link="link_head_pan"/>
    <axis xyz="0 0 1"/>
    <!-- unconstrained range for now -->
    <limit effort="100" lower="-3.9" upper="1.5" velocity="1.0"/>
  </joint>
  <link name="link_head_tilt">
    <inertial>
      <origin rpy="0 0 0" xyz="0.003907 -0.02418 0.030154"/>
      <mass value="0.283548"/>
      <inertia ixx="0.000316" ixy="-6E-06" ixz="1E-06" iyy="0.000143" iyz="-2E-06" izz="0.00031"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_head_tilt.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_head_tilt_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_head_tilt" type="revolute">
    <origin rpy="1.5707963267949 3.36459255518345E-15 -8.42914893687103E-17" xyz="-0.00130000001785262 0.0277624999926072 -0.0533107920897029"/>
    <parent link="link_head_pan"/>
    <child link="link_head_tilt"/>
    <axis xyz="0 0 1"/>
    <!-- unconstrained range for now -->
    <limit effort="100" lower="-1.53" upper="0.79" velocity="1.0"/>
  </joint>
  <link name="link_aruco_right_base">
    <inertial>
      <origin rpy="0 0 0" xyz="1.3878E-17 0 -0.000125"/>
      <mass value="3.59999999990368E-06"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_right_base.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_right_base.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_right_base" type="fixed">
    <origin rpy="0 0 -1.5707963267949" xyz="-0.0015028 -0.1304972 0.1597482"/>
    <parent link="base_link"/>
    <child link="link_aruco_right_base"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_left_base">
    <inertial>
      <origin rpy="0 0 0" xyz="2.7756E-17 0 -0.000125"/>
      <mass value="3.59999999990368E-06"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_left_base.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_left_base.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_left_base" type="fixed">
    <origin rpy="0 0 -1.5707963267949" xyz="-0.00500000000000014 0.1304972 0.1597482"/>
    <parent link="base_link"/>
    <child link="link_aruco_left_base"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_shoulder">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_shoulder.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_shoulder.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_shoulder" type="fixed">
    <origin rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"/>
    <parent link="link_lift"/>
    <child link="link_aruco_shoulder"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_top_wrist">
    <inertial>
      <origin rpy="0 0 0" xyz="-1.3531E-15 -3.4972E-15 -0.000125"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_top_wrist.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_top_wrist.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_top_wrist" type="fixed">
    <origin rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" xyz="0.0472500000000019 0.0292850000000015 0"/>
    <parent link="link_arm_l0"/>
    <child link="link_aruco_top_wrist"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_inner_wrist">
    <inertial>
      <origin rpy="0 0 0" xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"/>
      <mass value="0"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_inner_wrist.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_aruco_inner_wrist.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_inner_wrist" type="fixed">
    <origin rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"/>
    <parent link="link_arm_l0"/>
    <child link="link_aruco_inner_wrist"/>
    <axis xyz="0 0 0"/>
  </joint>
  <material name="aluminum">
    <color rgba="0.5 0.5 0.5 1"/>
  </material>
  <material name="plastic">
    <color rgba="0.1 0.1 0.1 1"/>
  </material>
  <!-- camera body, with origin at bottom screw mount -->
  <joint name="camera_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.03 -0.0122 0.0182"/>
    <parent link="link_head_tilt"/>
    <child link="camera_bottom_screw_frame"/>
  </joint>
  <link name="camera_bottom_screw_frame"/>
  <joint name="camera_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125"/>
    <parent link="camera_bottom_screw_frame"/>
    <child link="camera_link"/>
  </joint>
  <link name="camera_link">
    <visual>
      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 -0.0175 0"/>
      <geometry>
        <mesh filename="./meshes/d435.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0175 0"/>
      <geometry>
        <box size="0.02505 0.09 0.025"/>
      </geometry>
    </collision>
    <inertial>
      <!-- The following are not reliable values, and should not be used for modeling -->
      <mass value="0.072"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <!-- camera depth joints and links -->
  <joint name="camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>
  <link name="camera_depth_frame"/>
  <joint name="camera_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_depth_frame"/>
    <child link="camera_depth_optical_frame"/>
  </joint>
  <link name="camera_depth_optical_frame"/>
  <!-- camera left IR joints and links -->
  <joint name="camera_infra1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0 0"/>
    <parent link="camera_link"/>
    <child link="camera_infra1_frame"/>
  </joint>
  <link name="camera_infra1_frame"/>
  <joint name="camera_infra1_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_infra1_frame"/>
    <child link="camera_infra1_optical_frame"/>
  </joint>
  <link name="camera_infra1_optical_frame"/>
  <!-- camera right IR joints and links -->
  <joint name="camera_infra2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.05 0"/>
    <parent link="camera_link"/>
    <child link="camera_infra2_frame"/>
  </joint>
  <link name="camera_infra2_frame"/>
  <joint name="camera_infra2_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_infra2_frame"/>
    <child link="camera_infra2_optical_frame"/>
  </joint>
  <link name="camera_infra2_optical_frame"/>
  <!-- camera color joints and links -->
  <joint name="camera_color_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.015 0"/>
    <parent link="camera_link"/>
    <child link="camera_color_frame"/>
  </joint>
  <link name="camera_color_frame"/>
  <joint name="camera_color_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_color_frame"/>
    <child link="camera_color_optical_frame"/>
  </joint>
  <link name="camera_color_optical_frame"/>
  <link name="camera_accel_frame"/>
  <link name="camera_accel_optical_frame"/>
  <link name="camera_gyro_frame"/>
  <link name="camera_gyro_optical_frame"/>
  <joint name="camera_accel_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
    <parent link="camera_link"/>
    <child link="camera_accel_frame"/>
  </joint>
  <joint name="camera_accel_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_accel_frame"/>
    <child link="camera_accel_optical_frame"/>
  </joint>
  <joint name="camera_gyro_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
    <parent link="camera_link"/>
    <child link="camera_gyro_frame"/>
  </joint>
  <joint name="camera_gyro_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="camera_gyro_frame"/>
    <child link="camera_gyro_optical_frame"/>
  </joint>
  <material name="aluminum_d405">
    <color rgba="0.5 0.5 0.5 1"/>
  </material>
  <material name="plastic_d405">
    <color rgba="0.1 0.1 0.1 1"/>
  </material>
  <!-- camera body, with origin at bottom screw mount -->
  <joint name="gripper_camera_joint" type="fixed">
    <origin rpy="0 -1.3963 -1.5708" xyz="0 0.044142 0.042067"/>
    <parent link="link_gripper_s3_body"/>
    <child link="gripper_camera_bottom_screw_frame"/>
  </joint>
  <link name="gripper_camera_bottom_screw_frame"/>
  <joint name="gripper_camera_link_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
    <parent link="gripper_camera_bottom_screw_frame"/>
    <child link="gripper_camera_link"/>
  </joint>
  <link name="gripper_camera_link">
    <visual>
      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
      <geometry>
        <mesh filename="./meshes/d405.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="aluminum_d405"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
      <geometry>
        <box size="0.023 0.042 0.042"/>
      </geometry>
    </collision>
    <inertial>
      <!-- The following are not reliable values, and should not be used for modeling -->
      <mass value="0.072"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
    </inertial>
  </link>
  <!-- camera depth joints and links -->
  <joint name="gripper_camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="gripper_camera_link"/>
    <child link="gripper_camera_depth_frame"/>
  </joint>
  <link name="gripper_camera_depth_frame"/>
  <joint name="gripper_camera_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="gripper_camera_depth_frame"/>
    <child link="gripper_camera_depth_optical_frame"/>
  </joint>
  <link name="gripper_camera_depth_optical_frame"/>
  <!-- camera left IR joints and links -->
  <joint name="gripper_camera_infra1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0 0"/>
    <parent link="gripper_camera_link"/>
    <child link="gripper_camera_infra1_frame"/>
  </joint>
  <link name="gripper_camera_infra1_frame"/>
  <joint name="gripper_camera_infra1_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="gripper_camera_infra1_frame"/>
    <child link="gripper_camera_infra1_optical_frame"/>
  </joint>
  <link name="gripper_camera_infra1_optical_frame"/>
  <!-- camera right IR joints and links -->
  <joint name="gripper_camera_infra2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.018 0"/>
    <parent link="gripper_camera_link"/>
    <child link="gripper_camera_infra2_frame"/>
  </joint>
  <link name="gripper_camera_infra2_frame"/>
  <joint name="gripper_camera_infra2_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="gripper_camera_infra2_frame"/>
    <child link="gripper_camera_infra2_optical_frame"/>
  </joint>
  <link name="gripper_camera_infra2_optical_frame"/>
  <!-- camera color joints and links -->
  <joint name="gripper_camera_color_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0 0"/>
    <parent link="gripper_camera_link"/>
    <child link="gripper_camera_color_frame"/>
  </joint>
  <link name="gripper_camera_color_frame"/>
  <joint name="gripper_camera_color_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="gripper_camera_color_frame"/>
    <child link="gripper_camera_color_optical_frame"/>
  </joint>
  <link name="gripper_camera_color_optical_frame"/>
  <link name="laser">
    <inertial>
      <origin rpy="0 0 0" xyz="0.011979 -0.000523 -0.01998"/>
      <mass value="0.216007"/>
      <inertia ixx="9.5E-05" ixy="2E-06" ixz="-1.9E-05" iyy="0.000184" iyz="-1E-06" izz="0.000216"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/laser.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/laser_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_laser" type="fixed">
    <origin rpy="0 0 3.1416" xyz="0.004 0 0.1664"/>
    <parent link="base_link"/>
    <child link="laser"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="base_imu">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00300349280517617 0.00149777182047641 -0.00193103885249443"/>
      <mass value="0.00092"/>
      <inertia ixx="3E-08" ixy="0" ixz="0" iyy="5E-08" iyz="0" izz="8E-08"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/base_imu.STL"/>
      </geometry>
      <material name="">
        <color rgba="0 0.772549019607843 0.207843137254902 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/base_imu.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_base_imu" type="fixed">
    <origin rpy="-3.1416 0 -1.5708" xyz="-0.12838 0.0031592 0.1474"/>
    <parent link="base_link"/>
    <child link="base_imu"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="respeaker_base">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001594 -0.001282 -0.008098"/>
      <mass value="0.025175"/>
      <inertia ixx="1E-05" ixy="2E-06" ixz="1E-06" iyy="1.2E-05" iyz="0" izz="1.5E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/respeaker_base.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/respeaker_base.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_respeaker" type="fixed">
    <origin rpy="-1.5707963267949 -0.698131700797725 4.93295812652799E-16" xyz="0 1.37236408874452 0.00303065898329655"/>
    <parent link="link_mast"/>
    <child link="respeaker_base"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_wrist_yaw_bottom">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0165399153795968 -0.0446328107020906 -0.0281087384763343"/>
      <mass value="0.144548635554334"/>
      <inertia ixx="4.56525957614798E-05" ixy="-1.08217417869179E-06" ixz="-1.44384040297111E-08" iyy="7.22875259104698E-05" iyz="3.40820143544021E-09" izz="8.76544308203217E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_DW3_wrist_yaw_bottom.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_DW3_wrist_yaw_bottom_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_wrist_yaw_bottom" type="fixed">
    <origin rpy="-3.14159265358979 0 -1.5707963267949" xyz="0 0 0"/>
    <parent link="link_wrist_yaw"/>
    <child link="link_wrist_yaw_bottom"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_wrist_pitch">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000711479645697954 -0.0147442681465562 0.0195140764319514"/>
      <mass value="0.116590512374845"/>
      <inertia ixx="5.76204624498191E-05" ixy="-7.78647509857216E-07" ixz="-2.86646997376633E-08" iyy="3.5844353951621E-05" iyz="1.06445058968725E-06" izz="6.36355321976534E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_DW3_wrist_pitch.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_DW3_wrist_pitch_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_wrist_pitch" type="revolute">
    <origin rpy="1.5708 0 3.1416" xyz="0 -0.019455 -0.0305"/>
    <parent link="link_wrist_yaw_bottom"/>
    <child link="link_wrist_pitch"/>
    <axis xyz="0 0 -1"/>
    <limit effort="100" lower="-1.57" upper="0.56" velocity="1.0"/>
  </joint>
  <link name="link_wrist_roll">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000282866582415386 0.000557472767112266 0.0196635450480892"/>
      <mass value="0.0221916689638078"/>
      <inertia ixx="2.20608319376175E-06" ixy="3.01742816614342E-09" ixz="-1.83537060988685E-08" iyy="2.91436292743443E-06" iyz="-4.5509705441618E-08" izz="4.83731409646016E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_DW3_wrist_roll.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_DW3_wrist_roll_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_wrist_roll" type="revolute">
    <origin rpy="3.1416 1.5708 0" xyz="-0.018859 -0.024 0.01955"/>
    <parent link="link_wrist_pitch"/>
    <child link="link_wrist_roll"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
  </joint>
  <link name="link_wrist_quick_connect">
</link>
  <joint name="joint_wrist_quick_connect" type="fixed">
    <origin rpy="1.5708 0 -1.5708" xyz="0 0 0.0085"/>
    <parent link="link_wrist_roll"/>
    <child link="link_wrist_quick_connect"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_gripper_s3_body">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000296364207693828 0.00742489472460528 0.0440194148825503"/>
      <mass value="0.288995995074102"/>
      <inertia ixx="0.000482695285602815" ixy="-3.02029982967392E-06" ixz="6.73858128561175E-07" iyy="0.000213430693267808" iyz="-1.95797907844847E-05" izz="0.000377638305434195"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_body.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_body_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_gripper_s3_body" type="fixed">
    <origin rpy="0 0 -3.14159265358975" xyz="0 0 0.0209999999993159"/>
    <parent link="link_wrist_roll"/>
    <child link="link_gripper_s3_body"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_gripper_finger_right">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.107294725536829 -0.00404012121215261 7.86433341395387E-05"/>
      <mass value="0.0483698337858479"/>
      <inertia ixx="3.0603544296956E-06" ixy="-8.13967524445937E-07" ixz="-6.04746355450675E-08" iyy="6.12306677697621E-05" iyz="-1.81592899124487E-08" izz="6.24670188075471E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_finger_right.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_finger_right_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_gripper_finger_right" type="revolute">
    <origin rpy="-1.57079632679513 1.48789318732515 3.14159265358956" xyz="-0.0246929393014972 0 0.0371909405167257"/>
    <parent link="link_gripper_s3_body"/>
    <child link="link_gripper_finger_right"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
  </joint>
  <link name="link_gripper_fingertip_right">
    <inertial>
      <origin rpy="0 0 0" xyz="2.8647736627363E-08 -9.47712436305537E-09 0.00812577933915037"/>
      <mass value="0.00382162062525088"/>
      <inertia ixx="4.13411802118931E-07" ixy="3.48038363075757E-16" ixz="-5.14102948448996E-13" iyy="4.13411799815932E-07" iyz="1.76223254858882E-13" izz="7.08442016110623E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_fingertip_right.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_fingertip_right_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_gripper_fingertip_right" type="fixed">
    <origin rpy="-1.5707963267949 0 0.261799387799172" xyz="-0.177784508377902 -0.0106721811879468 0"/>
    <parent link="link_gripper_finger_right"/>
    <child link="link_gripper_fingertip_right"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_fingertip_right">
    <inertial>
      <origin rpy="0 0 0" xyz="0 1.11022302462516E-16 -0.000133556861164369"/>
      <mass value="7.44175884388862E-05"/>
      <inertia ixx="1.89627721063282E-09" ixy="-7.92118400196357E-24" ixz="-5.31083688038992E-24" iyy="1.89627721063282E-09" iyz="3.1794754795007E-24" izz="3.79185381384273E-09"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_aruco_fingertip_right.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_aruco_fingertip_right.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_fingertip_right" type="fixed">
    <origin rpy="-1.76278254451426 0 -0.959931088596862" xyz="-0.143934974292953 -0.00436381846065068 -8.58640479174944E-05"/>
    <parent link="link_gripper_finger_right"/>
    <child link="link_aruco_fingertip_right"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_gripper_finger_left">
    <inertial>
      <origin rpy="0 0 0" xyz="0.107294715994863 -0.00404011929289155 7.86443400617731E-05"/>
      <mass value="0.0483698266031602"/>
      <inertia ixx="3.06035472000871E-06" ixy="8.13968102368407E-07" ixz="6.04787443258659E-08" iyy="6.12306675643124E-05" iyz="-1.81596824851191E-08" izz="6.24670194741309E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_finger_left.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_finger_left_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_gripper_finger_left" type="revolute">
    <origin rpy="-1.57079632679523 -1.48789318734672 -3.14159265358946" xyz="0.0245029393015013 0 0.0371909405167127"/>
    <parent link="link_gripper_s3_body"/>
    <child link="link_gripper_finger_left"/>
    <axis xyz="0 0 -1"/>
    <limit effort="100" lower="-0.6" upper="0.6" velocity="1.0"/>
  </joint>
  <link name="link_gripper_fingertip_left">
    <inertial>
      <origin rpy="0 0 0" xyz="-3.08483497635237E-08 -1.26956833934599E-09 0.0081257795407928"/>
      <mass value="0.00382162054362131"/>
      <inertia ixx="4.13411804417319E-07" ixy="2.60118266065524E-16" ixz="5.82035131405725E-13" iyy="4.13411805017951E-07" iyz="2.22196449834679E-14" izz="7.08442015318697E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_fingertip_left.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.250980392156863 0.250980392156863 0.250980392156863 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_gripper_fingertip_left_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_gripper_fingertip_left" type="fixed">
    <origin rpy="1.57079632679491 0 2.87979326579064" xyz="0.177784508377884 -0.0106721811879429 0"/>
    <parent link="link_gripper_finger_left"/>
    <child link="link_gripper_fingertip_left"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_fingertip_left">
    <inertial>
      <origin rpy="0 0 0" xyz="1.66533453693773E-16 1.66533453693773E-16 -0.000133556861164119"/>
      <mass value="7.44175884388882E-05"/>
      <inertia ixx="1.89627721063294E-09" ixy="-5.82454725440012E-23" ixz="6.72490089805544E-24" iyy="1.89627721063281E-09" iyz="1.93870456067116E-24" izz="3.79185381384285E-09"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_aruco_fingertip_left.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_aruco_fingertip_left.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_fingertip_left" type="fixed">
    <origin rpy="-1.76278254451424 0 0.959931088596885" xyz="0.143934974292929 -0.00436381846064454 -8.58640479230455E-05"/>
    <parent link="link_gripper_finger_left"/>
    <child link="link_aruco_fingertip_left"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_aruco_d405">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.94593661126497E-06 6.87711987940043E-06 0.000123133477759885"/>
      <mass value="0.000393662237156561"/>
      <inertia ixx="5.28754465024473E-08" ixy="3.78334824255939E-13" ixz="1.41329092888338E-13" iyy="5.28872681828417E-08" iyz="-3.29924653052859E-13" izz="1.05758729446112E-07"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_aruco_d405.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SG3_aruco_d405.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_aruco_d405" type="fixed">
    <origin rpy="2.96705999342568 -0.000305721573415565 3.1398588194619" xyz="0 0.0671264013906604 0.0297716109784749"/>
    <parent link="link_gripper_s3_body"/>
    <child link="link_aruco_d405"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="link_grasp_center">
  </link>
  <joint name="joint_grasp_center" type="fixed">
    <origin rpy="-1.5707963267949 -1.5707963267948 0" xyz="0 0 0.23"/>
    <parent link="link_gripper_s3_body"/>
    <child link="link_grasp_center"/>
  </joint>
  <link name="link_head_nav_cam">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000242485173502102 -6.9219046065605E-05 -0.0139988115298306"/>
      <mass value="0.028346169831483"/>
      <inertia ixx="4.03820640553667E-06" ixy="-4.29737468694014E-25" ixz="-3.42669828325649E-22" iyy="4.03772087509678E-06" iyz="-2.25687766186513E-21" izz="5.37818026653469E-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SE3_head_nav_cam.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/link_SE3_head_nav_cam_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="joint_head_nav_cam" type="fixed">
    <origin rpy="0 1.5707963267949 0" xyz="0.0402000000000069 -0.0411729746231231 -0.0245785717313561"/>
    <parent link="link_head_tilt"/>
    <child link="link_head_nav_cam"/>
    <axis xyz="0 0 0"/>
  </joint>
</robot>