<?xml version="1.0" ?>
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_link"/>
  <joint name="panda_fixed" type="fixed">
    <origin rpy="0 0 0.0" xyz="0 0 0.0"/>
    <parent link="base_link"/>
    <child link="panda_link0"/>
    <axis xyz="0 0 0"/>
  </joint>

  <link name="panda_link0">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link0.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link0.obj"/>
      </geometry>
    </collision>


  </link>
  <link name="panda_link1">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link1.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link1.obj"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00033 -0.02204 -0.04762"/>
      <mass value="2.797"/>
      <inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
    </inertial>
  </link>
  <joint name="panda_joint1" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="0 0 0" xyz="0 0 0.333"/>
    <parent link="panda_link0"/>
    <child link="panda_link1"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
  </joint>
  <link name="panda_link2">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link2.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link2.obj"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.00038 -0.09211 0.01908"/>
      <mass value="2.542"/>
      <inertia ixx="0.0166" ixy="0.0" ixz="0.0" iyy="0.0046" iyz="0.0035" izz="0.015"/>
    </inertial>
  </link>
  <joint name="panda_joint2" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
    <parent link="panda_link1"/>
    <child link="panda_link2"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
  </joint>
  <link name="panda_link3">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link3.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link3.obj"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.05152 0.01696 -0.02971"/>
      <mass value="2.2513"/>
      <inertia ixx="0.006" ixy="0.009" ixz="0.003" iyy="0.0086" iyz="0.009" izz="0.0065"/>
    </inertial>
  </link>
  <joint name="panda_joint3" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
    <parent link="panda_link2"/>
    <child link="panda_link3"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
  </joint>
  <link name="panda_link4">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link4.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link4.obj"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.05113 0.05825 0.01698"/>
      <mass value="2.2037"/>
      <inertia ixx="0.0156" ixy="0.0" ixz="0.0" iyy="0.01439" iyz="-0.0024" izz="0.005"/>
    </inertial>
  </link>
  <joint name="panda_joint4" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
    <parent link="panda_link3"/>
    <child link="panda_link4"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
    <!-- something is weird with this joint limit config
    <dynamics damping="10.0"/>
    <limit effort="87" lower="-3.0" upper="0.087" velocity="2.1750"/>  -->
  </joint>
  <link name="panda_link5">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link5.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link5.obj"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00005 0.03730 -0.09280"/>
      <mass value="2.2855"/>
      <inertia ixx="0.02297014781" ixy="0.0" ixz="0.0" iyy="0.02095060919" iyz="0.00382345782" izz="0.00430606551"/>
    </inertial>
  </link>
  <joint name="panda_joint5" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
    <parent link="panda_link4"/>
    <child link="panda_link5"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>
  <link name="panda_link6">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link6.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link6.obj"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.06572 -0.00371 0.00153"/>
      <mass value="1.353"/>
      <inertia ixx="0.00087964522" ixy="-0.00021487814" ixz="-0.00011911662" iyy="0.00277796968" iyz="0.00001274322" izz="0.00286701969"/>
    </inertial>
  </link>
  <joint name="panda_joint6" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
    <parent link="panda_link5"/>
    <child link="panda_link6"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
    <!-- <dynamics damping="10.0"/>
    <limit effort="12" lower="-0.0873" upper="3.0" velocity="2.6100"/> -->
  </joint>
  <link name="panda_link7">
    <visual>
      <geometry>
        <mesh filename="meshes/visual/link7.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes/collision/link7.obj"/>
      </geometry>
    </collision>
        <inertial>
      <origin rpy="0 0 0" xyz="0.00089 -0.00044 0.05491"/>
      <mass value="0.35973"/>
      <inertia ixx="0.00019541063" ixy="0.00000165231" ixz="0.00000148826" iyy="0.00019210361" iyz="-0.00000131132" izz="0.00017936256"/>
    </inertial>
  </link>
  <joint name="panda_joint7" type="revolute">
    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
    <parent link="panda_link6"/>
    <child link="panda_link7"/>
    <axis xyz="0 0 1"/>
    <dynamics damping="10.0"/>
    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
  </joint>

  <link name="panda_link8"/>
  <joint name="panda_joint8" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.107"/>
    <parent link="panda_link7"/>
    <child link="panda_link8"/>
    <axis xyz="0 0 0"/>
  </joint>
  <joint name="panda_hand_joint" type="fixed">
    <parent link="panda_link8"/>
    <child link="right_base_link"/>

    <origin rpy="0 0 0.785398163397" xyz="0 0 0"/>
  </joint>

  <link
      name="right_base_link">
      <inertial>
        <origin
          xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"
          rpy="0 0 0" />
        <mass
          value="0.443105756928829" />
        <inertia
          ixx="0.00064200574020552"
          ixy="-1.51180224931458E-07"
          ixz="7.24174172220287E-09"
          iyy="0.00066998312004943"
          iyz="2.73584170951165E-09"
          izz="0.000278949393571484" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/base_link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/base_link.STL" />
        </geometry>
      </collision>
    </link>
    <link
      name="right_Left_01_Link">
      <inertial>
        <origin
          xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
          rpy="0 0 0" />
        <mass
          value="0.0112899386472626" />
        <inertia
          ixx="1.96944973967669E-06"
          ixy="6.42395813223716E-07"
          ixz="-1.07950451056367E-14"
          iyy="1.39704780795747E-06"
          iyz="-1.48209813327181E-14"
          izz="2.47457179553145E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_01_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_01_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Left_1_Joint"
      type="revolute">
      <origin
        xyz="-0.032553 0 0.10644"
        rpy="1.5708 0 3.1416" />
      <parent
        link="right_base_link" />
      <child
        link="right_Left_01_Link" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1"
        effort="2"
        velocity="1000" />
    </joint>


    <link
      name="right_Left_00_Link">
      <inertial>
        <origin
          xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
          rpy="0 0 0" />
        <mass
          value="0.0112899386472626" />
        <inertia
          ixx="1.96944973967669E-06"
          ixy="6.42395813223716E-07"
          ixz="-1.07950451056367E-14"
          iyy="1.39704780795747E-06"
          iyz="-1.48209813327181E-14"
          izz="2.47457179553145E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_00_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_00_Link.STL" />
        </geometry>
      </collision>
    </link>

    <joint
      name="right_Left_0_Joint"
      type="revolute">
      <origin
        xyz="0.01946 0.0129 0"
        rpy="0 0 0" />
      <parent
        link="right_Left_01_Link" />
      <child
        link="right_Left_00_Link" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="0"
        upper="1"
        effort="2"
        velocity="1000" />
    </joint>


    <link
      name="right_Left_Support_Link">
      <inertial>
        <origin
          xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"
          rpy="0 0 0" />
        <mass
          value="0.0140092102116716" />
        <inertia
          ixx="4.13674978137002E-06"
          ixy="9.81573398608352E-07"
          ixz="-2.87921970465553E-11"
          iyy="1.1362453186293E-06"
          iyz="2.94726072168702E-11"
          izz="4.10226218364235E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_Support_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_Support_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Left_Support_Joint"
      type="revolute">
      <origin
        xyz="-0.02888 0.04341 0"
        rpy="0 0 0" />
      <parent
        link="right_Left_00_Link" />
      <child
        link="right_Left_Support_Link" />
      <axis
        xyz="0 0 1" />
      <limit
        lower="-1"
        upper="1"
        effort="10"
        velocity="10" />
    </joint>
    <link
      name="right_Left_Pad_Link">
      <inertial>
        <origin
          xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"
          rpy="0 0 0" />
        <mass
          value="0.00332411394949541" />
        <inertia
          ixx="5.5867126170785E-07"
          ixy="2.9966962370347E-20"
          ixz="1.44978830317617E-23"
          iyy="1.45407135182096E-07"
          iyz="-1.60867378777053E-21"
          izz="4.18250297449997E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Left_Pad_Joint"
      type="fixed">
      <origin
        xyz="-0.022056 0.044306 0"
        rpy="0 0 0" />
      <parent
        link="right_Left_Support_Link" />
      <child
        link="right_Left_Pad_Link" />
      <axis
        xyz="0 0 0" />
    </joint>
    <link
      name="right_Left_2_Link">
      <inertial>
        <origin
          xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"
          rpy="0 0 0" />
        <mass
          value="0.00803955821311802" />
        <inertia
          ixx="1.15079028835042E-06"
          ixy="1.13853775681911E-07"
          ixz="-1.79492796413463E-10"
          iyy="4.68655200337902E-07"
          iyz="-4.49903912976825E-10"
          izz="8.47367915692972E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_2_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Left_2_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Left_2_Joint"
      type="revolute">
      <origin
        xyz="-0.017 0 0.122"
        rpy="1.5708 0 3.1416" />
      <parent
        link="right_base_link" />
      <child
        link="right_Left_2_Link" />
      <axis
        xyz="0 0 -1" />
      <limit
        lower="-1"
        upper="1"
        effort="10"
        velocity="10" />
    </joint>
    <link
      name="right_Right_2_Link">
      <inertial>
        <origin
          xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"
          rpy="0 0 0" />
        <mass
          value="0.00803955821311803" />
        <inertia
          ixx="1.15079028835042E-06"
          ixy="1.13853775681912E-07"
          ixz="-1.79492796413511E-10"
          iyy="4.68655200337903E-07"
          iyz="-4.49903912976901E-10"
          izz="8.47367915692974E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_2_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_2_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Right_2_Joint"
      type="revolute">
      <origin
        xyz="0.017 0 0.122"
        rpy="1.5708 0 0" />
      <parent
        link="right_base_link" />
      <child
        link="right_Right_2_Link" />
      <axis
        xyz="0 0 1" />
      <limit
        lower="-1"
        upper="1"
        effort="10"
        velocity="10" />
    </joint>
    <link
      name="right_Right_01_Link">
      <inertial>
        <origin
          xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
          rpy="0 0 0" />
        <mass
          value="0.0112899386472626" />
        <inertia
          ixx="1.96944973967663E-06"
          ixy="6.42395813223747E-07"
          ixz="-1.07950449101923E-14"
          iyy="1.39704780795753E-06"
          iyz="-1.48209815851649E-14"
          izz="2.47457179553146E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_01_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_01_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Right_1_Joint"
      type="revolute">
      <origin
        xyz="0.032553 0 0.10644"
        rpy="1.5708 0 0" />
      <parent
        link="right_base_link" />
      <child
        link="right_Right_01_Link" />
      <axis
        xyz="0 0 1" />
      <limit
        lower="-1"
        upper="1"
        effort="10"
        velocity="10" />
    </joint>

    <link
      name="right_Right_00_Link">
      <inertial>
        <origin
          xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
          rpy="0 0 0" />
        <mass
          value="0.0112899386472626" />
        <inertia
          ixx="1.96944973967663E-06"
          ixy="6.42395813223747E-07"
          ixz="-1.07950449101923E-14"
          iyy="1.39704780795753E-06"
          iyz="-1.48209815851649E-14"
          izz="2.47457179553146E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_00_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_00_Link.STL" />
        </geometry>
      </collision>
    </link>

     <joint
      name="right_Right_0_Joint"
      type="revolute">
      
      <origin
        xyz="0.01946 0.0129 0"
        rpy="0 0 0" />
      <parent
        link="right_Right_01_Link" />
      <child
        link="right_Right_00_Link" />
      <axis
        xyz="0 0 1" />
      <limit
        lower="-1"
        upper="1"
        effort="10"
        velocity="10" />
    </joint>

    <link
      name="right_Right_Support_Link">
      <inertial>
        <origin
          xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"
          rpy="0 0 0" />
        <mass
          value="0.0140092102116716" />
        <inertia
          ixx="4.13674978136988E-06"
          ixy="9.81573398608576E-07"
          ixz="-2.87921970465403E-11"
          iyy="1.13624531862944E-06"
          iyz="2.94726072165632E-11"
          izz="4.10226218364236E-06" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_Support_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_Support_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Right_Support_Joint"
      type="revolute">
      <origin
        xyz="-0.02888 0.04341 0"
        rpy="0 0 0" />
      <parent
        link="right_Right_00_Link" />
      <child
        link="right_Right_Support_Link" />
      <axis
        xyz="0 0 1" />
      <limit
        lower="-1"
        upper="1"
        effort="10"
        velocity="10" />
    </joint>
    <link
      name="right_Right_Pad_Link">
      <inertial>
        <origin
          xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"
          rpy="0 0 0" />
        <mass
          value="0.00332411394949542" />
        <inertia
          ixx="5.58671261707851E-07"
          ixy="3.06066210315894E-20"
          ixz="1.70379713307979E-23"
          iyy="1.45407135182096E-07"
          iyz="-1.65096420438087E-21"
          izz="4.18250297449998E-07" />
      </inertial>
      <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
        </geometry>
        <material
          name="">
          <color
            rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
        </geometry>
      </collision>
    </link>
    <joint
      name="right_Right_Pad_Joint"
      type="fixed">
      <origin
        xyz="-0.022056 0.044306 0"
        rpy="0 0 0" />
      <parent
        link="right_Right_Support_Link" />
      <child
        link="right_Right_Pad_Link" />
      <axis
        xyz="0 0 0" />
    </joint>




  <link name="ee_link"/>

  <joint name="ee_fixed_joint" type="fixed">
    <parent link="right_base_link"/>
    <child link="ee_link"/>
    <origin rpy="0 0.0 -1.57079632679" xyz="0.0 0. 0.225"/>
  </joint>
  <link name="right_gripper">
    <inertial>
      <!-- Dummy inertial parameters to avoid link lumping-->
      <mass value="0.01"/>
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </inertial>
  </link>
  <joint name="right_gripper" type="fixed">
    <!--<origin rpy="0 0 2.35619449019" xyz="0 0 0.1"/>-->
    <origin rpy="0 0 2.35619449019" xyz="0 0 0.207"/>
    <axis xyz="0 0 1"/>
    <parent link="panda_link7"/>
    <!--<parent link="panda_link8"/>-->
    <child link="right_gripper"/>
  </joint>


</robot>


