<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from pi_robot.xacro                 | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="pi_robot">
  <material name="white">
    <color rgba="0.87 0.90 0.87 1.0"/>
  </material>
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.22 0.32 0.14 1.0"/>
  </material>
  <material name="Green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="OffWhite">
    <color rgba="0.8 0.8 0.8 0.9"/>
  </material>
  <!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin, navigation stack depends on this frame -->
  <!--
  <link name="base_footprint">
    <inertial>
      <mass value="0.0001" />
      <origin xyz="0 0 0" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0"
              iyy="0.0001" iyz="0.0" 
              izz="0.0001" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.001" />
      </geometry>
         <material name="green">
            <color rgba="0.2 0.8 0.2 1.0"/>
         </material>   
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
       <box size="0.001 0.001 0.001" />
      </geometry>
    </collision>
  </link>
  -->
  <link name="base_link">
    <inertial>
      <mass value="5.0"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 -1.57" xyz="0 0 0.073"/>
      <geometry>
        <!--
         <cylinder length="0.3" radius=".15"/>
         -->
        <mesh filename="package://rbx1_description/meshes/pi_robot.dae" scale="0.0254 0.0254 0.0254"/>
      </geometry>
      <material name="grey">
        <color rgba="0.1 0.1 0.1 10"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.16"/>
      <geometry>
        <cylinder length="0.32" radius=".15"/>
      </geometry>
    </collision>
  </link>
  <!--
  <joint name="base_joint" type="fixed">
    <origin xyz="0 0 -0.073" rpy="0 0 0" />        
    <parent link="base_link"/>
    <child link="base_footprint" />
  </joint>
  -->
  <link name="base_laser_bottom">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.041"/>
      </geometry>
      <material name="black">
        <color rgba="0.1 0.1 0.1 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.05 0.05 0.041"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="base_laser_bottom_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_laser_bottom"/>
    <origin rpy="0 0 0" xyz="0.123 0 0.0995"/>
  </joint>
  <link name="base_laser_middle">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0115" radius=".02"/>
      </geometry>
      <material name="dark_grey">
        <color rgba="0.2 0.2 0.2 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0115" radius=".02"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="base_laser_middle_joint" type="fixed">
    <parent link="base_laser_bottom"/>
    <child link="base_laser_middle"/>
    <origin rpy="0 0 0" xyz="0 0 0.02625"/>
  </joint>
  <link name="base_laser">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0175" radius=".0185"/>
      </geometry>
      <material name="red">
        <color rgba="0.8 0.1 0.1 1.0"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.0175" radius=".0185"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
    </inertial>
  </link>
  <joint name="base_laser_joint" type="fixed">
    <parent link="base_laser_middle"/>
    <child link="base_laser"/>
    <origin rpy="0 0 0" xyz="0 0 0.0145"/>
  </joint>
  <!-- Attach the head -->
  <link name="head_base_link"/>
  <joint name="head_base_joint" type="fixed">
    <origin xyz="0.064 0 0.871"/>
    <parent link="base_link"/>
    <child link="head_base_link"/>
  </joint>
  <link name="head_pan_link"/>
  <joint name="fake_head_pan_joint" type="fixed">
    <origin rpy="0 1.570795 1.570795" xyz="0 0 0"/>
    <parent link="head_pan_servo_link"/>
    <child link="head_pan_link"/>
  </joint>
  <link name="head_tilt_link"/>
  <joint name="fake_head_tilt_joint" type="fixed">
    <origin rpy="0 0 3.14159" xyz="0 0 0"/>
    <parent link="head_tilt_servo_link"/>
    <child link="head_tilt_link"/>
  </joint>
  <joint name="head_pan_servo_joint" type="fixed">
    <origin rpy="1.570795 0 -1.570795" xyz="0 0 -0.019"/>
    <parent link="head_base_link"/>
    <child link="head_pan_servo_link"/>
  </joint>
  <link name="head_pan_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_pan_joint" type="revolute">
    <origin rpy="-1.570795 1.570795 3.14159" xyz="0 0.024 0.0"/>
    <parent link="head_pan_servo_link"/>
    <axis xyz="0 0 -1"/>
    <limit effort="30" lower="-2.9" upper="2.9" velocity="1.0"/>
    <child link="bioloid_F3_head_10_link"/>
  </joint>
  <link name="bioloid_F3_head_10_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0045"/>
      <geometry>
        <box size="0.025 0.038 0.009"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_tilt_servo_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 -0.0415"/>
    <parent link="bioloid_F3_head_10_link"/>
    <child link="head_tilt_servo_link"/>
  </joint>
  <link name="head_tilt_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_tilt_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="head_tilt_servo_link"/>
    <axis xyz="0 -1 0"/>
    <limit effort="30" lower="-2.9" upper="2.9" velocity="1.0"/>
    <child link="bioloid_F4_head_10_link"/>
  </joint>
  <link name="bioloid_F4_head_10_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F4.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0215"/>
      <geometry>
        <box size="0.028 0.0485 0.065"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_tilt_bracket_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
    <parent link="bioloid_F4_head_10_link"/>
    <child link="head_tilt_bracket_link"/>
  </joint>
  <link name="head_tilt_bracket_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_kinect_joint" type="fixed">
    <origin rpy="0 0 3.14159" xyz="-0.03 0 0.058"/>
    <parent link="head_tilt_bracket_link"/>
    <child link="kinect_link"/>
  </joint>
  <link name="kinect_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/kinect.dae" scale="100 100 100"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0275 0.0 0.0"/>
      <geometry>
        <box size="0.0730 .2760 0.0720"/>
      </geometry>
    </collision>
  </link>
  <joint name="kinect_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.018 0"/>
    <parent link="kinect_link"/>
    <child link="kinect_depth_frame"/>
  </joint>
  <link name="kinect_depth_frame">
    <inertial>
      <mass value="0.000001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="kinect_depth_optical_joint" type="fixed">
    <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0"/>
    <parent link="kinect_depth_frame"/>
    <child link="kinect_depth_optical_frame"/>
  </joint>
  <link name="kinect_depth_optical_frame">
    <inertial>
      <mass value="0.000001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="kinect_rgb_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.005 0"/>
    <parent link="kinect_link"/>
    <child link="kinect_rgb_frame"/>
  </joint>
  <link name="kinect_rgb_frame">
    <inertial>
      <mass value="0.000001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="kinect_rgb_optical_joint" type="fixed">
    <origin rpy="-1.570795 0 -1.570795" xyz="0 0 0"/>
    <parent link="kinect_rgb_frame"/>
    <child link="kinect_rgb_optical_frame"/>
  </joint>
  <link name="kinect_rgb_optical_frame">
    <inertial>
      <mass value="0.000001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="left_eye_link">
    <visual>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.01"/>
      </geometry>
      <material name="OffWhite"/>
    </visual>
    <collision>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <link name="right_eye_link">
    <visual>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.01"/>
      </geometry>
      <material name="OffWhite"/>
    </visual>
    <collision>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.01" radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <joint name="left_eye_joint" type="fixed">
    <parent link="kinect_link"/>
    <child link="left_eye_link"/>
    <origin rpy="0 0 0" xyz="-0.005 0.035 0"/>
  </joint>
  <joint name="right_eye_joint" type="fixed">
    <parent link="kinect_link"/>
    <child link="right_eye_link"/>
    <origin rpy="0 0 0" xyz="-0.005 -0.035 0"/>
  </joint>
  <!-- Attach the arm -->
  <link name="arm_base_link"/>
  <joint name="arm_base_joint" type="fixed">
    <origin rpy="0 0 1.57" xyz="0.125 0.06 0.6615"/>
    <parent link="base_link"/>
    <child link="arm_base_link"/>
  </joint>
  <link name="gripper_link"/>
  <joint name="gripper_link_joint" type="fixed">
    <origin rpy="0 -1.570795 0" xyz="0 0 .112"/>
    <parent link="arm_wrist_flex_link"/>
    <child link="gripper_link"/>
  </joint>
  <joint name="arm_shoulder_pan_servo_joint" type="fixed">
    <origin rpy="1.570795 0 1.570795" xyz="0 0 0"/>
    <parent link="arm_base_link"/>
    <child link="arm_shoulder_pan_servo_link"/>
  </joint>
  <link name="arm_shoulder_pan_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_pan_joint" type="revolute">
    <origin rpy="-1.570795 1.570795 3.14159" xyz="0 0.019 0"/>
    <axis xyz="0 0 -1"/>
    <limit effort="30" lower="-2.617" upper="2.617" velocity="0.785"/>
    <parent link="arm_shoulder_pan_servo_link"/>
    <child link="arm_shoulder_pan_link"/>
  </joint>
  <link name="arm_shoulder_pan_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0045"/>
      <geometry>
        <box size="0.025 0.038 0.009"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_lift_servo_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 -0.0415"/>
    <parent link="arm_shoulder_pan_link"/>
    <child link="arm_shoulder_lift_servo_link"/>
  </joint>
  <link name="arm_shoulder_lift_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_lift_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/>
    <parent link="arm_shoulder_lift_servo_link"/>
    <child link="arm_shoulder_lift_link"/>
  </joint>
  <link name="arm_shoulder_lift_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F4.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0215"/>
      <geometry>
        <box size="0.028 0.0485 0.065"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_F10_0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
    <parent link="arm_shoulder_lift_link"/>
    <child link="arm_shoulder_F10_0_link"/>
  </joint>
  <link name="arm_shoulder_F10_0_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_F10_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.004"/>
    <parent link="arm_shoulder_F10_0_link"/>
    <child link="arm_shoulder_F10_1_link"/>
  </joint>
  <link name="arm_shoulder_F10_1_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_F10_2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.004"/>
    <parent link="arm_shoulder_F10_1_link"/>
    <child link="arm_shoulder_F10_2_link"/>
  </joint>
  <link name="arm_shoulder_F10_2_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_shoulder_F3_0_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 0.002"/>
    <parent link="arm_shoulder_F10_2_link"/>
    <child link="arm_shoulder_F3_0_link"/>
  </joint>
  <link name="arm_shoulder_F3_0_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0045"/>
      <geometry>
        <box size="0.025 0.038 0.009"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_elbow_flex_servo_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 -0.0415"/>
    <parent link="arm_shoulder_F3_0_link"/>
    <child link="arm_elbow_flex_servo_link"/>
  </joint>
  <link name="arm_elbow_flex_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_elbow_flex_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" lower="-2.617" upper="2.617" velocity="1.571"/>
    <parent link="arm_elbow_flex_servo_link"/>
    <child link="arm_elbow_flex_link"/>
  </joint>
  <link name="arm_elbow_flex_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F4.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0215"/>
      <geometry>
        <box size="0.028 0.0485 0.065"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_elbow_F10_0_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
    <parent link="arm_elbow_flex_link"/>
    <child link="arm_elbow_F10_0_link"/>
  </joint>
  <link name="arm_elbow_F10_0_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_elbow_F10_1_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.004"/>
    <parent link="arm_elbow_F10_0_link"/>
    <child link="arm_elbow_F10_1_link"/>
  </joint>
  <link name="arm_elbow_F10_1_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_elbow_F10_2_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.004"/>
    <parent link="arm_elbow_F10_1_link"/>
    <child link="arm_elbow_F10_2_link"/>
  </joint>
  <link name="arm_elbow_F10_2_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F10.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.025 0.038 0.004"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_elbow_F3_0_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 0.002"/>
    <parent link="arm_elbow_F10_2_link"/>
    <child link="arm_elbow_F3_0_link"/>
  </joint>
  <link name="arm_elbow_F3_0_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0045"/>
      <geometry>
        <box size="0.025 0.038 0.009"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_wrist_flex_servo_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 -0.0415"/>
    <parent link="arm_elbow_F3_0_link"/>
    <child link="arm_wrist_flex_servo_link"/>
  </joint>
  <link name="arm_wrist_flex_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_wrist_flex_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" lower="-1.745" upper="1.745" velocity="1.571"/>
    <parent link="arm_wrist_flex_servo_link"/>
    <child link="arm_wrist_flex_link"/>
  </joint>
  <link name="arm_wrist_flex_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.00775"/>
      <geometry>
        <box size="0.025 0.0485 0.0375"/>
      </geometry>
    </collision>
  </link>
  <joint name="arm_wrist_F3_0_joint" type="fixed">
    <origin rpy="0 3.14159 -1.570795" xyz="0 0.016 0.0265"/>
    <parent link="arm_wrist_flex_link"/>
    <child link="arm_wrist_F3_0_link"/>
  </joint>
  <link name="arm_wrist_F3_0_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0045"/>
      <geometry>
        <box size="0.025 0.038 0.009"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_servo_joint" type="fixed">
    <origin rpy="3.14159 1.570795 0" xyz="-0.02275 0 -0.019"/>
    <parent link="arm_wrist_F3_0_link"/>
    <child link="gripper_servo_link"/>
  </joint>
  <link name="gripper_servo_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/ax12_box.dae" scale="100 100 100"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.01241"/>
      <geometry>
        <box size="0.025 0.038 0.04762"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_joint" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit effort="30" lower="-0.060" upper="0.50" velocity="0.785"/>
    <parent link="gripper_servo_link"/>
    <child link="gripper_active_link"/>
  </joint>
  <link name="gripper_active_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.00775"/>
      <geometry>
        <box size="0.025 0.0485 0.0375"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_active_finger_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.0265"/>
    <parent link="gripper_active_link"/>
    <child link="gripper_active_finger_link"/>
  </joint>
  <link name="gripper_active_finger_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.02645 0.0 -0.00655"/>
      <geometry>
        <box size="0.0783 0.03801 0.0193"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_static_joint" type="fixed">
    <origin rpy="0 3.14159 0" xyz="0 0 -0.0415"/>
    <parent link="gripper_servo_link"/>
    <child link="gripper_static_link"/>
  </joint>
  <link name="gripper_static_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/F3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0045"/>
      <geometry>
        <box size="0.025 0.038 0.009"/>
      </geometry>
    </collision>
  </link>
  <joint name="gripper_static_finger_joint" type="fixed">
    <origin rpy="0 0 3.14159" xyz="0 0 0"/>
    <parent link="gripper_static_link"/>
    <child link="gripper_static_finger_link"/>
  </joint>
  <link name="gripper_static_finger_link">
    <inertial>
      <mass value="0.00001"/>
      <origin xyz="0 0 0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz=" 0 0 0 "/>
      <geometry>
        <mesh filename="package://rbx1_description/meshes/finger.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.02645 0.0 -0.00655"/>
      <geometry>
        <box size="0.0783 0.03801 0.0193"/>
      </geometry>
    </collision>
  </link>
</robot>
