<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from omy_f3m.urdf.xacro             | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="omy_f3m">
  <link name="world"/>
  <joint name="world_fixed" type="fixed">
    <parent link="world"/>
    <child link="link0"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <joint name="gripper_fixed" type="fixed">
    <origin rpy="1.57 -1.57 0" xyz="0 -0.006 0"/>
    <parent link="end_effector_flange_link"/>
    <axis xyz="0 0 0"/>
    <child link="rh_p12_rn_base"/>
  </joint>
  <joint name="end_effector_joint" type="fixed">
    <parent link="end_effector_flange_link"/>
    <child link="end_effector_link"/>
    <origin rpy="0 0 0" xyz="0 -0.141 0"/>
  </joint>
  <link name="end_effector_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="red">
        <color rgba="1.0 0.0 0.0 1"/>
      </material>
    </visual>
  </link>
  <link name="link0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/base_unit.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.03"/>
      <geometry>
        <cylinder length="0.05" radius="0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-4.021582400e-03 1.308399100e-03 5.507347000e-02"/>
      <mass value="1.528748600e+00"/>
      <inertia ixx="4.642820300e-03" ixy="4.440553200e-05" ixz="-1.504929600e-04" iyy="4.973695500e-03" iyz="2.075604700e-05" izz="6.407832100e-03"/>
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="link0"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.1715"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.05"/>
  </joint>
  <link name="link1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.01 -0.035"/>
      <geometry>
        <cylinder length="0.1" radius="0.055"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.106361500e-04 -5.471127000e-03 -1.589773300e-02"/>
      <mass value="2.064883200e+00"/>
      <inertia ixx="3.033219000e-03" ixy="5.179283800e-06" ixz="3.335796100e-06" iyy="2.727672400e-03" iyz="1.793495300e-04" izz="2.282657600e-03"/>
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="0 0 0" xyz="0 -0.1215 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.005 -0.02 0.13"/>
      <geometry>
        <cylinder length="0.28" radius="0.046"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.140537900e-05 1.618424400e-02 1.036063400e-01"/>
      <mass value="3.679539500e+00"/>
      <inertia ixx="5.173191800e-02" ixy="2.395881900e-06" ixz="5.789396000e-05" iyy="5.035340100e-02" iyz="-4.382571600e-04" izz="4.501436000e-03"/>
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0 0 0.247"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.125 0.08"/>
      <geometry>
        <cylinder length="0.17" radius="0.042"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="7.814868900e-05 1.071848100e-01 1.411726700e-01"/>
      <mass value="2.386591600e+00"/>
      <inertia ixx="2.269439900e-02" ixy="-9.414242800e-07" ixz="-1.855175700e-05" iyy="2.192008700e-02" iyz="1.917938700e-04" izz="2.776155900e-03"/>
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="0 0 0" xyz="0 0.1215 0.2195"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link4.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.10" radius="0.045"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.331825600e-04 -1.074666700e-01 1.909068800e-02"/>
      <mass value="1.400234700e+00"/>
      <inertia ixx="1.754567900e-03" ixy="-4.586337900e-06" ixz="-1.775914200e-06" iyy="1.565214700e-03" iyz="1.533991300e-04" izz="1.215983900e-03"/>
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <parent link="link4"/>
    <child link="link5"/>
    <origin rpy="0 0 0" xyz="0 -0.113 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link5.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.01 0.005"/>
      <geometry>
        <cylinder length="0.05" radius="0.043"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.331825600e-04 -1.909068800e-02 1.099666700e-01"/>
      <mass value="1.400234700e+00"/>
      <inertia ixx="1.754567900e-03" ixy="-1.775914300e-06" ixz="-4.586337600e-06" iyy="1.215983900e-03" iyz="1.533991300e-04" izz="1.565214700e-03"/>
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <parent link="link5"/>
    <child link="link6"/>
    <origin rpy="0 0 0" xyz="0 0 0.1155"/>
    <axis xyz="0 1 0"/>
    <limit effort="1000" lower="-6.283185307179586" upper="6.283185307179586" velocity="4.8"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="link6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/link6.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="1.57 0 0" xyz="0 -0.1 0"/>
      <geometry>
        <cylinder length="0.22" radius="0.08"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.108014600e-05 -8.059405600e-02 9.302933700e-03"/>
      <mass value="4.001547500e-01"/>
      <inertia ixx="5.674127600e-04" ixy="2.007333900e-07" ixz="-1.234534700e-06" iyy="6.296670600e-04" iyz="-5.631880500e-05" izz="1.989051500e-04"/>
    </inertial>
  </link>
  <!-- camera body, with origin at bottom screw mount -->
  <joint name="camera_joint" type="fixed">
    <origin rpy="-1.57079632679 0 -1.57079632679" xyz="-0.021 -0.07385 0.0803"/>
    <parent link="link6"/>
    <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="0.01085 0.009 0.021"/>
    <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="0.0038 -0.009 0"/>
      <geometry>
        <mesh filename="package://realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="aluminum"/>
    </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>
  <joint name="end_effector_flange_joint" type="fixed">
    <parent link="link6"/>
    <child link="end_effector_flange_link"/>
    <origin rpy="0 0 0" xyz="0 -0.103 0"/>
  </joint>
  <link name="end_effector_flange_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/omy_f3m/flange.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.03 0.04"/>
      <geometry>
        <cylinder length="0.12" radius="0.035"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.000000000e+00 -3.190310200e-03 0.000000000e+00"/>
      <mass value="1.661875800e-02"/>
      <inertia ixx="2.907575800e-06" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="8.125431100e-06" iyz="0.000000000e+00" izz="5.492618100e-06"/>
    </inertial>
  </link>
  <!-- base -->
  <link name="rh_p12_rn_base">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
      <mass value="0.236"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
    </inertial>
  </link>
  <!-- Joint -->
  <joint name="rh_r1_joint" type="revolute">
    <parent link="rh_p12_rn_base"/>
    <child link="rh_p12_rn_r1"/>
    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
    <dynamics damping="0.7"/>
  </joint>
  <!-- rh_p12_rn_r1 -->
  <link name="rh_p12_rn_r1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
      <mass value="0.068"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
    </inertial>
  </link>
  <!-- Right Joint 2 -->
  <joint name="rh_r2" type="revolute">
    <parent link="rh_p12_rn_r1"/>
    <child link="rh_p12_rn_r2"/>
    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
    <dynamics damping="0.7"/>
    <mimic joint="rh_r1_joint" multiplier="1"/>
  </joint>
  <!-- rh_p12_rn_r2 -->
  <link name="rh_p12_rn_r2">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
      <mass value="0.022"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
    </inertial>
  </link>
  <!-- Left Joint 1 -->
  <joint name="rh_l1" type="revolute">
    <parent link="rh_p12_rn_base"/>
    <child link="rh_p12_rn_l1"/>
    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
    <axis xyz="-1 0 0"/>
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
    <dynamics damping="0.7"/>
    <mimic joint="rh_r1_joint" multiplier="1"/>
  </joint>
  <!-- rh_p12_rn_l1 -->
  <link name="rh_p12_rn_l1">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
      <mass value="0.068"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
    </inertial>
  </link>
  <!-- Left Joint 2 -->
  <joint name="rh_l2" type="revolute">
    <parent link="rh_p12_rn_l1"/>
    <child link="rh_p12_rn_l2"/>
    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
    <axis xyz="1 0 0"/>
    <limit effort="1000" lower="0.0" upper="1.13514578304" velocity="6.5"/>
    <dynamics damping="0.7"/>
    <mimic joint="rh_r1_joint" multiplier="1"/>
  </joint>
  <!-- rh_p12_rn_l2 -->
  <link name="rh_p12_rn_l2">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://open_manipulator_description/meshes/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="grey">
        <color rgba="0.2 0.2 0.2 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
      <mass value="0.022"/>
      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
    </inertial>
  </link>
</robot>
