<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/bz/code/herb_description/robots/wam_bh282_standalone.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="wam">
  <link name="/wam_base">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam_base.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="0.21556578 0.26189039 0.34533511"/>
      <mass value="9.97059584"/>
      <inertia ixx="0.10916849" ixy="0.00640270" ixz="0.02557874" iyx="0.00000000" iyy="0.18294303" iyz="0.00161433" izx="0.00000000" izy="0.00000000" izz="0.11760385"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam_base_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="/wam1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam1.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="-1.570796 0 0" xyz="-0.004434 -0.000665 -0.121890"/>
      <mass value="10.76768767"/>
      <inertia ixx="0.13488033" ixy="-0.00213041" ixz="-0.00012485" iyx="0.00000000" iyy="0.11328369" iyz="0.00068555" izx="0.00000000" izy="0.00000000" izz="0.09046330"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam1_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j1" type="revolute">
    <origin rpy="-1.1127E-16 0 0" xyz="0.22 0.14 0.346"/>
    <parent link="/wam_base"/>
    <child link="/wam1"/>
    <axis xyz="0 0 1"/>
    <!-- HERB's J1 joints are modified to have a +180 degree offset. -->
    <limit effort="1.8" lower="0.54159265359" upper="5.74159265359" velocity="0.75"/>
  </joint>
  <link name="/wam2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam2.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="1.570796 0 0" xyz="-0.002370 -0.015421 0.031056"/>
      <mass value="3.87493756"/>
      <inertia ixx="0.02140958" ixy="0.00027172" ixz="0.00002461" iyx="0.00000000" iyy="0.01377875" iyz="-0.00181920" izx="0.00000000" izy="0.00000000" izz="0.01558906"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam2_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j2" type="revolute">
    <origin rpy="-1.5708 -4.0281E-16 -3.9443E-31" xyz="0 0 0"/>
    <parent link="/wam1"/>
    <child link="/wam2"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.8" lower="-2.00" upper="2.00" velocity="0.75"/>
  </joint>
  <link name="/wam3">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam3.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="-1.570796 0 0" xyz="0.006741 0.000033 0.342492"/>
      <mass value="1.80228141"/>
      <inertia ixx="0.05911077" ixy="-0.00249612" ixz="0.00000738" iyx="0.00000000" iyy="0.00324550" iyz="-0.00001767" izx="0.00000000" izy="0.00000000" izz="0.05927043"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam3_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j3" type="revolute">
    <origin rpy="1.5708 -3.9443E-31 4.0281E-16" xyz="0 0 0"/>
    <parent link="/wam2"/>
    <child link="/wam3"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.8" lower="-2.80" upper="2.80" velocity="2.0"/>
  </joint>
  <link name="/wam4">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam4.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="1.570796 0 0" xyz="-0.040015 -0.132717 -0.000229"/>
      <mass value="2.40016804"/>
      <inertia ixx="0.01491672" ixy="0.00001741" ixz="-0.00150604" iyx="0.00000000" iyy="0.01482922" iyz="-0.00002109" izx="0.00000000" izy="0.00000000" izz="0.00294463"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam4_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j4" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0.045 0 0.55"/>
    <parent link="/wam3"/>
    <child link="/wam4"/>
    <axis xyz="0 0 1"/>
    <limit effort="1.6" lower="-0.90" upper="3.10" velocity="2.0"/>
  </joint>
  <link name="/wam5">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam5.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="-1.570796 0 0" xyz="0.000089 0.004358 0.294888"/>
      <mass value="0.12376019"/>
      <inertia ixx="0.00005029" ixy="0.00000020" ixz="-0.00000005" iyx="0.00000000" iyy="0.00007582" iyz="-0.00000359" izx="0.00000000" izy="0.00000000" izz="0.00006270"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam5_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j5" type="revolute">
    <origin rpy="1.5708 0 0" xyz="-0.045 0 0"/>
    <parent link="/wam4"/>
    <child link="/wam5"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.6" lower="-4.76" upper="1.24" velocity="2.5"/>
  </joint>
  <link name="/wam6">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam6.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="1.570796 0 0" xyz="-0.000123 -0.024683 -0.017032"/>
      <mass value="0.41797364"/>
      <inertia ixx="0.00055516" ixy="0.00000061" ixz="-0.00000074" iyx="0.00000000" iyy="0.00024367" iyz="-0.00004590" izx="0.00000000" izy="0.00000000" izz="0.00045358"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam6_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j6" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0 0 0.3"/>
    <parent link="/wam5"/>
    <child link="/wam6"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.6" lower="-1.60" upper="1.60" velocity="2.5"/>
  </joint>
  <link name="/wam7">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam7.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000080 0.000163 0.056764"/>
      <mass value="0.06864753"/>
      <inertia ixx="0.00003773" ixy="-0.00000019" ixz="0.00000000" iyx="0.00000000" iyy="0.00003806" iyz="0.00000000" izx="0.00000000" izy="0.00000000" izz="0.00007408"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/wam/wam7_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j7" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
    <parent link="/wam6"/>
    <child link="/wam7"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.174" lower="-3.00" upper="3.00" velocity="2.5"/>
  </joint>
  <link name="/hand_base">
    <visual>
      <origin rpy="0 0 0" xyz="-0.112 -0.056 -0.023"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh282/hand_base.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh282/hand_base.dae"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="5.0019e-005 -0.0044561 0.037268"/>
      <mass value="0.60858"/>
      <inertia ixx="0.0006986" ixy="2.7577e-007" ixz="-7.8138e-007" iyx="0.0000000" iyy="0.00050354" iyz="-6.44e-005" izx="0.0000000" izy="0.00000000" izz="0.00062253"/>
    </inertial>
    <collision>
      <origin xyz="-0.112 -0.056 -0.023"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh282/hand_base.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="/perception_palm">
    <visual>
      <origin rpy="0 0 0" xyz="-0.112 -0.056 -0.023"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh282/perception_palm.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.75 0.75 0.75 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh282/perception_palm.dae"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="5.0019e-005 -0.0044561 0.037268"/>
      <mass value="0.60858"/>
      <inertia ixx="0.0006986" ixy="2.7577e-007" ixz="-7.8138e-007" iyx="0.0000000" iyy="0.00050354" iyz="-6.44e-005" izx="0.0000000" izy="0.00000000" izz="0.00062253"/>
    </inertial>
    <collision>
      <origin xyz="-0.112 -0.056 -0.023"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh282/perception_palm.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="/perception_palm_mount" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="/hand_base"/>
    <child link="/perception_palm"/>
  </joint>
  <link name="/finger0_0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.029"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_0.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_0.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.030616 -7.3219e-005 -0.011201"/>
      <mass value="0.14109"/>
      <inertia ixx="2.0672e-005" ixy="2.6024e-007" ixz="6.3481e-006" iyx="0.000000000" iyy="7.4105e-005" iyz="1.7118e-008" izx="0.000000000" izy="0.000000000" izz="6.8207e-005"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.029"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_0_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j00" type="revolute">
    <origin rpy="-9.27906974436996E-30 -2.56739074444568E-16 -1.5707963267949" xyz="-0.025 0 0.0754000000000003"/>
    <parent link="/hand_base"/>
    <child link="/finger0_0"/>
    <axis xyz="0 0 -1"/>
    <limit effort="0" lower="0" upper="3.14159265359" velocity="2.0"/>
  </joint>
  <link name="/finger0_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_1.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_1.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.023133 0.00078642 0.00052792"/>
      <mass value="0.062139"/>
      <inertia ixx="4.8162e-006" ixy="5.7981e-007" ixz="-7.2483e-007" iyx="0.000000000" iyy="4.3317e-005" iyz="-2.6653e-009" izx="0.000000000" izy="0.000000000" izz="4.4441e-005"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_1_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j01" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.05 0.001 -0.028"/>
    <parent link="/finger0_0"/>
    <child link="/finger0_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="0" upper="2.44346095279" velocity="2.0"/>
  </joint>
  <link name="/finger0_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_2.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_2.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.02295 0.0010739 0.00041752"/>
      <mass value="0.04166"/>
      <inertia ixx="3.1199e-006" ixy="4.5115e-007" ixz="-2.9813e-007" iyx="0.000000000" iyy="1.6948e-005" iyz="-1.8635e-008" izx="0.000000000" izy="0.000000000" izz="1.5809e-005"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger0_2_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j02" type="revolute">
    <origin rpy="-3.77533479986348E-14 -4.45260733378639E-14 0.698131700822416" xyz="0.069935684739622 0.00300000000000003 0.000200000000006934"/>
    <parent link="/finger0_1"/>
    <child link="/finger0_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="0" upper="0.837758040957" velocity="2.0"/>
    <mimic joint="/j01" multiplier="0.321428571429" offset="0.0"/>
  </joint>
  <link name="/finger1_0">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 -0.029"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_0.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_0.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.030616 -7.3219e-005 -0.011201"/>
      <mass value="0.14109"/>
      <inertia ixx="2.0672e-005" ixy="2.6024e-007" ixz="6.3481e-006" iyx="0.000000000" iyy="7.4105e-005" iyz="1.7118e-008" izx="0.000000000" izy="0.000000000" izz="6.8207e-005"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.029"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_0_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j10" type="revolute">
    <origin rpy="-9.2871E-30 -0.0058448 -1.5708" xyz="0.025 0 0.0754"/>
    <parent link="/hand_base"/>
    <child link="/finger1_0"/>
    <axis xyz="0.0058448 0 0.99998"/>
    <limit effort="0" lower="0" upper="3.14159265359" velocity="2.0"/>
    <mimic joint="/j00" multiplier="1" offset="0"/>
  </joint>
  <link name="/finger1_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_1.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_1.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.023133 0.00078642 0.00052792"/>
      <mass value="0.062139"/>
      <inertia ixx="4.8162e-006" ixy="5.7981e-007" ixz="-7.2483e-007" iyx="0.000000000" iyy="4.3317e-005" iyz="-2.6653e-009" izx="0.000000000" izy="0.000000000" izz="4.4441e-005"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_1_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j11" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.05 0.001 -0.028"/>
    <parent link="/finger1_0"/>
    <child link="/finger1_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="0" upper="2.44346095279" velocity="2.0"/>
  </joint>
  <link name="/finger1_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_2.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_2.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.02295 0.0010739 0.00041752"/>
      <mass value="0.04166"/>
      <inertia ixx="3.1199e-006" ixy="4.5115e-007" ixz="-2.9813e-007" iyx="0.000000000" iyy="1.6948e-005" iyz="-1.8635e-008" izx="0.000000000" izy="0.000000000" izz="1.5809e-005"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger1_2_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j12" type="revolute">
    <origin rpy="1.95799899548702E-16 2.29686057908074E-16 0.700079983587682" xyz="0.0699356847396015 0.00300000000003377 0.000199999999999378"/>
    <parent link="/finger1_1"/>
    <child link="/finger1_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="0" upper="0.837758040957" velocity="2.0"/>
    <mimic joint="/j11" multiplier="0.321428571429" offset="0.0"/>
  </joint>
  <link name="/finger2_1">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger2_1.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger2_1.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.023133 0.00078642 0.00052792"/>
      <mass value="0.062139"/>
      <inertia ixx="4.8162e-006" ixy="5.7981e-007" ixz="-7.2483e-007" iyx="0.000000000" iyy="4.3317e-005" iyz="-2.6653e-009" izx="0.000000000" izy="0.000000000" izz="4.4441e-005"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger2_1_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j21" type="revolute">
    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="-0.0018 0.053 0.048"/>
    <!-- TODO -->
    <parent link="/hand_base"/>
    <child link="/finger2_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="0" upper="2.44346095279" velocity="2.0"/>
  </joint>
  <link name="/finger2_2">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger2_2.dae"/>
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1"/>
      </material>
    </visual>
    <geometry_group name="fine_collision">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger2_2.STL"/>
      </geometry>
    </geometry_group>
    <inertial>
      <origin xyz="0.02295 0.0010739 0.00041752"/>
      <mass value="0.04166"/>
      <inertia ixx="3.1199e-006" ixy="4.5115e-007" ixz="-2.9813e-007" iyx="0.000000000" iyy="1.6948e-005" iyz="-1.8635e-008" izx="0.000000000" izy="0.000000000" izz="1.5809e-005"/>
    </inertial>
    <collision>
      <geometry>
        <mesh filename="package://herb_description/meshes/bh280/finger2_2_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="/j22" type="revolute">
    <origin rpy="5.6276902721421E-16 5.75421399737176E-16 0.698131700797743" xyz="0.0699356847396236 0.00300000000000011 0.000199999999999993"/>
    <parent link="/finger2_1"/>
    <child link="/finger2_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="0" upper="0.837758040957" velocity="2.0"/>
    <mimic joint="/j21" multiplier="0.321428571429" offset="0.0"/>
  </joint>
  <joint name="/hand_mount" type="fixed">
    <!-- The force/torque sensor is 12 mm thick. -->
    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0.072"/>
    <parent link="/wam7"/>
    <child link="/hand_base"/>
  </joint>
</robot>
