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ixz="-1.97480532432411E-06" iyy="9.24967780161546E-05" iyz="9.91284646834672E-07" izz="8.24589062407806E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="link1.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="link1.STL" /> </geometry> </collision> </link> <joint name="joint1" type="revolute"> <origin xyz="0 0 0.123" rpy="0 0 -1.5708" /> <parent link="base_link" /> <child link="link1" /> <axis xyz="0 0 1" /> <limit lower="-2.618" upper="2.618" effort="100" velocity="0" /> </joint> <link name="link2"> <inertial> <origin xyz="0.147615838821413 -0.0174259998251393 0.00175952516190707" rpy="0 0 0" /> <mass value="0.289571136953082" /> <inertia ixx="0.000150112628108228" ixy="8.58974959950769E-05" ixz="-1.07428153464285E-06" iyy="0.00172585302855383" iyz="-9.93704792239686E-07" 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<mesh filename="link3.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="link3.STL" /> </geometry> </collision> </link> <joint name="joint3" type="revolute"> <origin xyz="0.28503 0 0" rpy="0 0 1.3826" /> <parent link="link2" /> <child link="link3" /> <axis xyz="0 0 1" /> <limit lower="-2.967" upper="0" effort="100" velocity="1" /> </joint> <link name="link4"> <inertial> <origin xyz="0.000276464622388145 -0.00102803669324853 -0.00472830700561612" rpy="0 0 0" /> <mass value="0.127087348341362" /> <inertia ixx="3.82011730423098E-05" ixy="-4.92358351033589E-08" ixz="4.89589432983109E-08" iyy="4.87048555222491E-05" iyz="6.70802942486707E-08" izz="4.10592077565155E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="link4.STL" /> </geometry> <material name=""> <color rgba="0.792156862745098 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<joint name="joint6" type="revolute"> <origin xyz="0 0.091 0.0014165" rpy="-1.5708 -1.5708 0" /> <parent link="link5" /> <child link="link6" /> <axis xyz="0 0 1" /> <limit lower="-3.14" upper="3.14" effort="100" velocity="1" /> </joint> <link name="link7"> <inertial> <origin xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448" rpy="0 0 0" /> <mass value="0.0264822500394006" /> <inertia ixx="9.99782519244544E-06" ixy="-1.57547595978589E-07" ixz="-2.71355785017816E-08" iyy="6.17952364356547E-06" iyz="-1.58939504838734E-06" izz="1.42102253390315E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="link7.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="link7.STL" /> </geometry> </collision> </link> <joint name="joint7" type="prismatic"> <origin xyz="0 0 0.13503" rpy="1.5708 0 1.5708" /> <parent link="link6" /> <child link="link7" /> <axis xyz="0 0 -1" /> <limit lower="-0.038" upper="0" effort="100" velocity="1" /> </joint> <link name="link8"> <inertial> <origin xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583" rpy="0 0 0" /> <mass value="0.0264822490707451" /> <inertia ixx="9.99782474142963E-06" ixy="-1.57547666236405E-07" ixz="2.71355834243046E-08" iyy="6.17952362333486E-06" iyz="1.58939503259658E-06" izz="1.42102248648757E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="link8.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="link8.STL" /> </geometry> </collision> </link> <joint name="joint8" type="prismatic"> <origin xyz="0 0 0.13503" rpy="-1.5708 0 1.5708" /> <parent link="link6" /> <child link="link8" /> <axis xyz="0 0 1" /> <limit 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