<?xml version="1.0" encoding="UTF-8"?>
<robot name="fr3">
  <joint name="fr3_finger_joint1" type="prismatic">
    <origin xyz="0. 0. 0.0584" rpy="0. 0. 1.5707964"/>
    <parent link="fr3_hand"/>
    <child link="fr3_leftfinger"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="0." upper="0.04" effort="100." velocity="0.2"/>
  </joint>
  <joint name="fr3_finger_joint2" type="prismatic">
    <origin xyz="0. 0. 0.0584" rpy="0. 0. -1.5707963"/>
    <parent link="fr3_hand"/>
    <child link="fr3_rightfinger"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="0." upper="0.04" effort="10000000." velocity="0.2"/>
  </joint>
  <joint name="fr3_hand_joint" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. -0.7853982"/>
    <parent link="fr3_link8"/>
    <child link="fr3_hand"/>
  </joint>
  <joint name="fr3_hand_tcp_joint" type="fixed">
    <origin xyz="0. 0. 0.1034" rpy="0. 0. 0."/>
    <parent link="fr3_hand"/>
    <child link="fr3_hand_tcp"/>
  </joint>
  <joint name="fr3_joint1" type="revolute">
    <origin xyz="0. 0. 0.333" rpy="0. -1.5707964 0. "/>
    <parent link="fr3_link0"/>
    <child link="fr3_link1"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.7436999" upper="2.7436999" effort="87." velocity="2.6199998"/>
  </joint>
  <joint name="fr3_joint2" type="revolute">
    <origin xyz="0. 0. 0." rpy="0. 0. 1.5707964"/>
    <parent link="fr3_link1"/>
    <child link="fr3_link2"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-1.7836999" upper="1.7836999" effort="87." velocity="2.6199998"/>
  </joint>
  <joint name="fr3_joint3" type="revolute">
    <origin xyz="0. -0.316 0. " rpy="0. 0. -1.5707963"/>
    <parent link="fr3_link2"/>
    <child link="fr3_link3"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.9006999" upper="2.9006999" effort="87." velocity="2.6199998"/>
  </joint>
  <joint name="fr3_joint4" type="revolute">
    <origin xyz="-0. 0. -0.0825" rpy="0. 0. -1.5707964"/>
    <parent link="fr3_link3"/>
    <child link="fr3_link4"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-3.0420999" upper="-0.1518" effort="87." velocity="2.6199998"/>
  </joint>
  <joint name="fr3_joint5" type="revolute">
    <origin xyz="0.0000001 0.384 0.0825 " rpy="0. 0. 1.5707961"/>
    <parent link="fr3_link4"/>
    <child link="fr3_link5"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-2.8064999" upper="2.8064999" effort="12." velocity="5.2600004"/>
  </joint>
  <joint name="fr3_joint6" type="revolute">
    <origin xyz="0. 0. -0." rpy="0. 0. -1.5707961"/>
    <parent link="fr3_link5"/>
    <child link="fr3_link6"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="0.5445" upper="4.5168996" effort="12." velocity="4.1799999"/>
  </joint>
  <joint name="fr3_joint7" type="revolute">
    <origin xyz="0. 0. -0.088" rpy="0. 0. -1.5707965"/>
    <parent link="fr3_link6"/>
    <child link="fr3_link7"/>
    <axis xyz="1. 0. 0."/>
    <limit lower="-3.0158997" upper="3.0158997" effort="12." velocity="5.2600004"/>
  </joint>
  <joint name="fr3_joint8" type="fixed">
    <origin xyz="0.107 0. 0. " rpy="-0.0000002 1.5707964 0. "/>
    <parent link="fr3_link7"/>
    <child link="fr3_link8"/>
  </joint>
  <joint name="root_joint" type="fixed">
    <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
    <parent link="fr3"/>
    <child link="fr3_link0"/>
  </joint>
  <link name="fr3"/>
  <link name="fr3_hand">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.73"/>
      <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/fr3_hand_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/fr3_hand_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_hand_tcp"/>
  <link name="fr3_leftfinger">
    <visual>
      <origin xyz="0. 0. -0." rpy="0. 0. -1.5707964"/>
      <geometry>
        <mesh filename="meshes/fr3_leftfinger_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0185 0. 0.011 " rpy="0. 0. -1.5707964"/>
      <geometry>
        <box size="0.022 0.015 0.02 "/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0068 0. 0.0022" rpy="0. 0. -1.5707964"/>
      <geometry>
        <box size="0.022 0.0088 0.0038"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0159 0. 0.02835" rpy="0.5235989 0. -1.5707964"/>
      <geometry>
        <box size="0.0175 0.007 0.0235"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.00758 0. 0.04525" rpy="0. 0. -1.5707964"/>
      <geometry>
        <box size="0.0175 0.0152 0.0185"/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link0">
    <visual>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/fr3_link0_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <geometry>
        <mesh filename="meshes/fr3_link0_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link1">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="2.9274654"/>
      <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. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link1_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link1_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link2">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="2.9355371"/>
      <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. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link2_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="-0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link2_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link3">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="2.2449014"/>
      <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. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link3_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0. 0. 0." rpy="0. 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link3_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link4">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="2.6155956"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link4_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link4_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link5">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="2.3271208"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. -0." rpy="-0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link5_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. -0." rpy="-0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link5_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link6">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="1.8170377"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link6_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link6_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link7">
    <inertial>
      <origin xyz="0. 0. 0." rpy="0. 0. 0."/>
      <mass value="0.6271433"/>
      <inertia ixx="0.001" ixy="0." ixz="0." iyy="0.001" iyz="0." izz="0.001"/>
    </inertial>
    <visual>
      <origin xyz="0. 0. 0." rpy="-0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link7_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0. 0. 0." rpy="-0.0000002 1.5707964 0. "/>
      <geometry>
        <mesh filename="meshes/fr3_link7_collisions.obj" scale="1. 1. 1."/>
      </geometry>
    </collision>
  </link>
  <link name="fr3_link8"/>
  <link name="fr3_rightfinger">
    <visual>
      <origin xyz="0. 0. -0." rpy="0. 0. -1.5707963"/>
      <geometry>
        <mesh filename="meshes/fr3_rightfinger_visuals.obj" scale="1. 1. 1."/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0185 0. 0.011 " rpy="0. 0. 1.5707964"/>
      <geometry>
        <box size="0.022 0.015 0.02 "/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0068 0. 0.0022" rpy="0. 0. 1.5707964"/>
      <geometry>
        <box size="0.022 0.0088 0.0038"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.0159 0. 0.02835" rpy="-0.5235989 0. 1.5707964"/>
      <geometry>
        <box size="0.0175 0.007 0.0235"/>
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.00758 0. 0.04525" rpy="0. 0. 1.5707964"/>
      <geometry>
        <box size="0.0175 0.0152 0.0185"/>
      </geometry>
    </collision>
  </link>
</robot>
