<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="XBot-L">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="-0.0033599 -0.00084664 0.1336"
        rpy="0 0 0" />
      <mass
        value="9.9576" />
      <inertia
        ixx="0.089966"
        ixy="-1.1578E-05"
        ixz="-0.00027182"
        iyy="0.060002"
        iyz="-2.1263E-05"
        izz="0.056135" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0. 0.1"
        rpy="0 0 0" />
      <geometry>
        <box size="0.4 0.4 0.4"/>
      </geometry>
    </collision>

    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/base_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <!--neck -->
  <link
    name="neck_base_link">
    <inertial>
      <origin
        xyz="3.5639E-05 4.7576E-05 -0.031296"
        rpy="0 0 0" />
      <mass
        value="0.61964" />
      <inertia
        ixx="0.00027591"
        ixy="4.4922E-07"
        ixz="4.4668E-07"
        iyy="0.00029054"
        iyz="3.5279E-07"
        izz="0.00047326" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/neck_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.86667 0.86667 0.8902 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/neck_base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="neck_base_joint"
    type="fixed">
    <origin
      xyz="0 0 0.4"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="neck_base_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="neck_yaw_link">
    <inertial>
      <origin
        xyz="0.023237 0.004247 0.035877"
        rpy="0 0 0" />
      <mass
        value="0.64979" />
      <inertia
        ixx="0.00033722"
        ixy="7.322E-07"
        ixz="1.9679E-05"
        iyy="0.00056036"
        iyz="2.7926E-07"
        izz="0.0003788" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/neck_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/neck_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="neck_yaw_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="neck_base_link" />
    <child
      link="neck_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="neck_pitch_link">
    <inertial>
      <origin
        xyz="-0.0021819 -0.087991 0.00035708"
        rpy="0 0 0" />
      <mass
        value="1.3216" />
      <inertia
        ixx="0.0064217"
        ixy="-0.0010336"
        ixz="-1.3429E-07"
        iyy="0.0051542"
        iyz="3.6968E-07"
        izz="0.0050103" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/neck_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/neck_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="neck_pitch_joint"
    type="fixed">
    <origin
      xyz="0.032 0 0.044"
      rpy="-1.5708 0 0" />
    <parent
      link="neck_yaw_link" />
    <child
      link="neck_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.44"
      upper="0.44"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <!--realsense -->
  <link
    name="realsense_link">
    <inertial>
      <origin
        xyz="0.047424 0.00014285 -0.0082421"
        rpy="0 0 0" />
      <mass
        value="0.076907" />
      <inertia
        ixx="8.6659E-06"
        ixy="9.2766E-08"
        ixz="-9.1747E-08"
        iyy="9.4298E-05"
        iyz="9.0199E-08"
        izz="9.4996E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/realsense_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.25098 0.25098 0.25098 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/realsense_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="realsense_joint"
    type="fixed">
    <origin
      xyz="0.066371 -0.12536 0.0475"
      rpy="0.34907 1.5708 0" />
    <parent
      link="neck_pitch_link" />
    <child
      link="realsense_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <!--left arm  -->
  <link
    name="left_arm_base_link">
    <inertial>
      <origin
        xyz="4.3007E-05 -0.0002119 0.15272"
        rpy="0 0 0" />
      <mass
        value="0.71484" />
      <inertia
        ixx="0.00039879"
        ixy="4.4875E-09"
        ixz="4.4641E-07"
        iyy="0.00039825"
        iyz="3.3288E-07"
        izz="0.0005946" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_arm_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_arm_base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_arm_base_joint"
    type="fixed">
    <origin
      xyz="0 0 0.2885"
      rpy="-1.5708 -1.5708 0" />
    <parent
      link="base_link" />
    <child
      link="left_arm_base_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="3.5013E-05 -0.0038729 -0.011871"
        rpy="0 0 0" />
      <mass
        value="0.90505" />
      <inertia
        ixx="0.00071173"
        ixy="5.7487E-07"
        ixz="-9.3092E-06"
        iyy="0.0010328"
        iyz="-3.8731E-06"
        izz="0.00051962" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_pitch_joint"
    type="fixed">
    <origin
      xyz="0 0 0.2635"
      rpy="0 0 0" />
    <parent
      link="left_arm_base_link" />
    <child
      link="left_shoulder_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="1.4"
      effort="80"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_shoulder_roll_link">
    <inertial>
      <origin
        xyz="-5.3445E-05 -0.065465 0.00044459"
        rpy="0 0 0" />
      <mass
        value="0.72803" />
      <inertia
        ixx="0.00083478"
        ixy="5.2258E-07"
        ixz="-9.7942E-07"
        iyy="0.00046725"
        iyz="-1.7628E-07"
        izz="0.00099776" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_roll_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 -1.5708 0" />
    <parent
      link="left_shoulder_pitch_link" />
    <child
      link="left_shoulder_roll_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.79"
      upper="0.37"
      effort="80"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_arm_yaw_link">
    <inertial>
      <origin
        xyz="-0.00064229 0.0042682 -0.011976"
        rpy="0 0 0" />
      <mass
        value="0.6767" />
      <inertia
        ixx="0.00042478"
        ixy="7.579E-07"
        ixz="-4.3018E-06"
        iyy="0.0005533"
        iyz="-2.724E-07"
        izz="0.00027258" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_arm_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_arm_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_arm_yaw_joint"
    type="fixed">
    <origin
      xyz="0 -0.1905 0"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="left_shoulder_roll_link" />
    <child
      link="left_arm_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_elbow_pitch_link">
    <inertial>
      <origin
        xyz="-4.1786E-05 0.063355 0.00048573"
        rpy="0 0 0" />
      <mass
        value="0.64825" />
      <inertia
        ixx="0.00066842"
        ixy="-3.9226E-07"
        ixz="-4.9075E-07"
        iyy="0.00051468"
        iyz="3.558E-07"
        izz="0.00057032" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_elbow_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_elbow_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_elbow_pitch_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="left_arm_yaw_link" />
    <child
      link="left_elbow_pitch_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.26"
      upper="2.18"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_elbow_yaw_link">
    <inertial>
      <origin
        xyz="-0.0001806 0.0042708 -0.0077002"
        rpy="0 0 0" />
      <mass
        value="0.64989" />
      <inertia
        ixx="0.00031291"
        ixy="1.4143E-07"
        ixz="-1.0059E-06"
        iyy="0.00043268"
        iyz="-5.4972E-07"
        izz="0.00025356" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_elbow_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_elbow_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_elbow_yaw_joint"
    type="fixed">
    <origin
      xyz="0 0.16 0"
      rpy="-1.5708 0 0" />
    <parent
      link="left_elbow_pitch_link" />
    <child
      link="left_elbow_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_wrist_roll_link">
    <inertial>
      <origin
        xyz="-5.7422E-05 -0.062427 -0.00035934"
        rpy="0 0 0" />
      <mass
        value="0.63795" />
      <inertia
        ixx="0.00061799"
        ixy="3.7671E-07"
        ixz="-9.2328E-07"
        iyy="0.00049848"
        iyz="-2.2456E-06"
        izz="0.0005284" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_wrist_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_wrist_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wrist_roll_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="left_elbow_yaw_link" />
    <child
      link="left_wrist_roll_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.92"
      upper="1.92"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_wrist_yaw_link">
    <inertial>
      <origin
        xyz="2.3347E-07 -0.00026089 0.11621"
        rpy="0 0 0" />
      <mass
        value="0.083273" />
      <inertia
        ixx="2.0254E-05"
        ixy="2.1639E-08"
        ixz="7.9935E-11"
        iyy="2.0019E-05"
        iyz="-6.7147E-08"
        izz="3.6529E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_wrist_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_wrist_yaw_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_wrist_yaw_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="left_wrist_roll_link" />
    <child
      link="left_wrist_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
    <!--right arm  -->
  <link
    name="right_arm_base_link">
    <inertial>
      <origin
        xyz="4.3007E-05 -0.0002119 0.15272"
        rpy="0 0 0" />
      <mass
        value="0.71484" />
      <inertia
        ixx="0.00039879"
        ixy="4.4875E-09"
        ixz="4.4641E-07"
        iyy="0.00039825"
        iyz="3.3288E-07"
        izz="0.0005946" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_arm_base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_arm_base_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_arm_base_joint"
    type="fixed">
    <origin
      xyz="0 0 0.2885"
      rpy="1.5708 -1.5708 0" />
    <parent
      link="base_link" />
    <child
      link="right_arm_base_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="-1.5908E-05 0.0038729 -0.012191"
        rpy="0 0 0" />
      <mass
        value="0.90505" />
      <inertia
        ixx="0.00071187"
        ixy="-5.5323E-07"
        ixz="-8.8712E-06"
        iyy="0.0010328"
        iyz="4.0089E-06"
        izz="0.00051948" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_pitch_joint"
    type="fixed">
    <origin
      xyz="0 0 0.2635"
      rpy="0 0 0" />
    <parent
      link="right_arm_base_link" />
    <child
      link="right_shoulder_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.4"
      upper="3.14"
      effort="80"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_shoulder_roll_link">
    <inertial>
      <origin
        xyz="5.3331E-05 -0.065465 -0.00044443"
        rpy="0 0 0" />
      <mass
        value="0.72803" />
      <inertia
        ixx="0.00083478"
        ixy="-5.2488E-07"
        ixz="-9.7929E-07"
        iyy="0.00046725"
        iyz="1.7642E-07"
        izz="0.00099776" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_roll_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 -1.5708 0" />
    <parent
      link="right_shoulder_pitch_link" />
    <child
      link="right_shoulder_roll_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.37"
      upper="2.79"
      effort="80"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_arm_yaw_link">
    <inertial>
      <origin
        xyz="-0.00088723 -0.0040764 -0.011947"
        rpy="0 0 0" />
      <mass
        value="0.67669" />
      <inertia
        ixx="0.00042305"
        ixy="7.5046E-07"
        ixz="-4.8243E-06"
        iyy="0.00055472"
        iyz="2.322E-08"
        izz="0.00027284" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_arm_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_arm_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_arm_yaw_joint"
    type="fixed">
    <origin
      xyz="0 -0.1905 0"
      rpy="1.5708 1.5708 0" />
    <parent
      link="right_shoulder_roll_link" />
    <child
      link="right_arm_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_elbow_pitch_link">
    <inertial>
      <origin
        xyz="-5.6114E-05 0.063356 -0.00046067"
        rpy="0 0 0" />
      <mass
        value="0.64824" />
      <inertia
        ixx="0.00066729"
        ixy="-4.4996E-07"
        ixz="9.4198E-07"
        iyy="0.00051467"
        iyz="-2.5324E-07"
        izz="0.0005714" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_elbow_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_elbow_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_elbow_pitch_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="right_arm_yaw_link" />
    <child
      link="right_elbow_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.18"
      upper="0.26"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_elbow_yaw_link">
    <inertial>
      <origin
        xyz="9.9183E-05 -0.0042397 -0.0078479"
        rpy="0 0 0" />
      <mass
        value="0.6519" />
      <inertia
        ixx="0.00031322"
        ixy="3.7211E-08"
        ixz="1.0437E-06"
        iyy="0.0004327"
        iyz="5.4065E-07"
        izz="0.00025354" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_elbow_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_elbow_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_elbow_yaw_joint"
    type="fixed">
    <origin
      xyz="0 0.16 0"
      rpy="-1.5708 0 0" />
    <parent
      link="right_elbow_pitch_link" />
    <child
      link="right_elbow_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_wrist_roll_link">
    <inertial>
      <origin
        xyz="5.6478E-05 -0.062427 0.00035729"
        rpy="0 0 0" />
      <mass
        value="0.63795" />
      <inertia
        ixx="0.00061792"
        ixy="-3.6597E-07"
        ixz="-8.9401E-07"
        iyy="0.00049847"
        iyz="2.2635E-06"
        izz="0.00052846" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_wrist_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_wrist_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wrist_roll_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="right_elbow_yaw_link" />
    <child
      link="right_wrist_roll_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.92"
      upper="1.92"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_wrist_yaw_link">
    <inertial>
      <origin
        xyz="-8.1679E-08 0.00026081 0.11621"
        rpy="0 0 0" />
      <mass
        value="0.083273" />
      <inertia
        ixx="2.0254E-05"
        ixy="2.1709E-08"
        ixz="-1.4701E-10"
        iyy="2.0019E-05"
        iyz="6.7218E-08"
        izz="3.6529E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_wrist_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_wrist_yaw_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_wrist_yaw_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 0" />
    <parent
      link="right_wrist_roll_link" />
    <child
      link="right_wrist_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="50"
      velocity="7" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>

  <!--waist  --> 
  <link
    name="waist_yaw_link">
    <inertial>
      <origin
        xyz="0.0018236 3.106E-08 0.015461"
        rpy="0 0 0" />
      <mass
        value="1.9214" />
      <inertia
        ixx="0.0032668"
        ixy="-2.5545E-08"
        ixz="-4.7672E-05"
        iyy="0.0027745"
        iyz="3.1696E-09"
        izz="0.0043665" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/waist_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/waist_yaw_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="waist_yaw_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.0975"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="waist_yaw_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="waist_roll_link">
    <inertial>
      <origin
        xyz="-8.7577E-07 -0.020553 -0.088247"
        rpy="0 0 0" />
      <mass
        value="5.1053" />
      <inertia
        ixx="0.0067829"
        ixy="-2.98E-09"
        ixz="-2.5393E-07"
        iyy="0.011425"
        iyz="-1.2239E-05"
        izz="0.014655" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/waist_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.25098 0.25098 0.25098 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/waist_roll_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="waist_roll_joint"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 1.5708" />
    <parent
      link="waist_yaw_link" />
    <child
      link="waist_roll_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.26"
      upper="0.26"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>

    <!--left leg  --> 
  <link
    name="left_leg_roll_link">
    <inertial>
      <origin
        xyz="-0.0048592 -0.00012591 -0.0028089"
        rpy="0 0 0" />
      <mass
        value="1.7968" />
      <inertia
        ixx="0.00366"
        ixy="1.1643E-07"
        ixz="3.4763E-05"
        iyy="0.0026951"
        iyz="-1.0471E-08"
        izz="0.0025009" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_leg_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_leg_roll_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_leg_roll_joint"
    type="revolute">
    <origin
      xyz="0.117 -0.032 0"
      rpy="0 0 -1.5708" />
    <parent
      link="waist_roll_link" />
    <child
      link="left_leg_roll_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.44"
      upper="1.57"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_leg_yaw_link">
    <inertial>
      <origin
        xyz="-0.0013538 0.014654 0.077538"
        rpy="0 0 0" />
      <mass
        value="0.61484" />
      <inertia
        ixx="0.0012242"
        ixy="-6.7208E-07"
        ixz="-2.2333E-05"
        iyy="0.0013918"
        iyz="-0.00022312"
        izz="0.00048585" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_leg_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_leg_yaw_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_leg_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="3.1416 -1.5708 0" />
    <parent
      link="left_leg_roll_link" />
    <child
      link="left_leg_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.05"
      upper="1.05"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_leg_pitch_link">
    <inertial>
      <origin
        xyz="-0.0027612 -0.078535 -0.0083028"
        rpy="0 0 0" />
      <mass
        value="6.0376" />
      <inertia
        ixx="0.022941"
        ixy="0.00028796"
        ixz="-1.0894E-05"
        iyy="0.009392"
        iyz="-0.00018948"
        izz="0.030616" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_leg_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_leg_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_leg_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0 0.1455"
      rpy="-1.5708 0.5236 0" />
    <parent
      link="left_leg_yaw_link" />
    <child
      link="left_leg_pitch_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.57"
      upper="1.31"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_knee_link">
    <inertial>
      <origin
        xyz="0.015712 -0.10775 6.6184E-06"
        rpy="0 0 0" />
      <mass
        value="2.2288" />
      <inertia
        ixx="0.0086876"
        ixy="-0.00019539"
        ixz="7.1643E-07"
        iyy="0.0015757"
        iyz="2.0711E-06"
        izz="0.008833" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_knee_joint"
    type="revolute">
    <origin
      xyz="0 -0.32 0"
      rpy="0 0 -1.0472" />
    <parent
      link="left_leg_pitch_link" />
    <child
      link="left_knee_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.05"
      upper="1.1"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_ankle_pitch_link">
    <inertial>
      <origin
        xyz="-7.8974E-09 3.999E-08 1.2906E-15"
        rpy="0 0 0" />
      <mass
        value="0.043455" />
      <inertia
        ixx="1.2169E-06"
        ixy="-1.3839E-17"
        ixz="-4.252E-12"
        iyy="6.4906E-06"
        iyz="5.3179E-14"
        izz="6.7102E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_ankle_pitch_joint"
    type="revolute">
    <origin
      xyz="0 -0.32 0"
      rpy="3.1416 0 0.5236" />
    <parent
      link="left_knee_link" />
    <child
      link="left_ankle_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.7"
      upper="0.87"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0.1" />
  </joint>
  <link
    name="left_ankle_roll_link">
    <inertial>
      <origin
        xyz="-1.1259E-06 -0.033529 0.02588"
        rpy="0 0 0" />
      <mass
        value="0.34252" />
      <inertia
        ixx="0.0008483"
        ixy="1.4122E-10"
        ixz="-1.6584E-08"
        iyy="0.00093602"
        iyz="1.1635E-05"
        izz="0.00012759" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>

    <!-- <collision>
      <origin
        xyz="0 0 0 "
        rpy="0 0 0" />
      <geometry>
        <box size="0.16 0.07 0.02"/>
      </geometry>
    </collision> -->
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_ankle_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 -1.5708 3.1416" />
    <parent
      link="left_ankle_pitch_link" />
    <child
      link="left_ankle_roll_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.44"
      upper="0.44"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0.1" />
  </joint>
  <link
    name="left_foot_ee_link">
    <inertial>
      <origin
        xyz="8.9304E-15 -2.7756E-16 0.0055"
        rpy="0 0 0" />
      <mass
        value="0.000975" />
      <inertia
        ixx="4.0625E-09"
        ixy="-1.0877E-23"
        ixz="-1.7125E-23"
        iyy="4.0625E-09"
        iyz="-1.7854E-23"
        izz="4.0625E-09" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_foot_ee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_foot_ee_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_foot_ee_joint"
    type="fixed">
    <origin
      xyz="0 -0.056 0"
      rpy="-1.5708 -1.5708 0" />
    <parent
      link="left_ankle_roll_link" />
    <child
      link="left_foot_ee_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_ankle_pitch_motor1_link">
    <inertial>
      <origin
        xyz="3.0355E-09 -0.01852 0.011673"
        rpy="0 0 0" />
      <mass
        value="0.031448" />
      <inertia
        ixx="1.2663E-05"
        ixy="-5.2945E-13"
        ixz="-2.4631E-13"
        iyy="3.8092E-06"
        iyz="-4.6528E-07"
        izz="1.5928E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_motor1_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_motor1_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_ankle_pitch_motor1_joint"
    type="fixed">
    <origin
      xyz="0.015 -0.052915 -0.023"
      rpy="3.1416 0 1.7764" />
    <parent
      link="left_knee_link" />
    <child
      link="left_ankle_pitch_motor1_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_ankle_pitch_linkage1_link">
    <inertial>
      <origin
        xyz="0.13224 0.0023241 -2.7751E-05"
        rpy="0 0 0" />
      <mass
        value="0.066732" />
      <inertia
        ixx="1.4166E-06"
        ixy="5.8871E-06"
        ixz="-7.0295E-08"
        iyy="0.00047775"
        iyz="8.4139E-09"
        izz="0.00047846" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_linkage1_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_linkage1_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_ankle_pitch_linkage1_joint"
    type="fixed">
    <origin
      xyz="0 -0.045 0"
      rpy="0 0 -2.9182" />
    <parent
      link="left_ankle_pitch_motor1_link" />
    <child
      link="left_ankle_pitch_linkage1_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_ankle_pitch_motor2_link">
    <inertial>
      <origin
        xyz="-0.01852 1.4156E-09 0.011673"
        rpy="0 0 0" />
      <mass
        value="0.031448" />
      <inertia
        ixx="3.8092E-06"
        ixy="-6.5397E-13"
        ixz="-4.6528E-07"
        iyy="1.2663E-05"
        iyz="1.6914E-13"
        izz="1.5928E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_motor2_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_motor2_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_ankle_pitch_motor2_joint"
    type="fixed">
    <origin
      xyz="0.0175 -0.12287 0.023"
      rpy="0 0 0.20869" />
    <parent
      link="left_knee_link" />
    <child
      link="left_ankle_pitch_motor2_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_ankle_pitch_linkage2_link">
    <inertial>
      <origin
        xyz="0.097472 -0.002115 -2.9693E-05"
        rpy="0 0 0" />
      <mass
        value="0.050552" />
      <inertia
        ixx="1.1455E-06"
        ixy="-3.1638E-06"
        ixz="-4.4417E-08"
        iyy="0.0002065"
        iyz="-8.5102E-09"
        izz="0.0002071" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_linkage2_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_pitch_linkage2_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_ankle_pitch_linkage2_joint"
    type="fixed">
    <origin
      xyz="-0.045 0 0"
      rpy="0 0 -1.8165" />
    <parent
      link="left_ankle_pitch_motor2_link" />
    <child
      link="left_ankle_pitch_linkage2_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_knee_motor_link">
    <inertial>
      <origin
        xyz="0.0052166 2.2204E-16 0.023896"
        rpy="0 0 0" />
      <mass
        value="0.1157" />
      <inertia
        ixx="2.9641E-05"
        ixy="-4.2352E-21"
        ixz="1.1846E-06"
        iyy="4.4949E-05"
        iyz="5.7175E-21"
        izz="7.1289E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_motor_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_motor_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_knee_motor_joint"
    type="fixed">
    <origin
      xyz="-0.006 -0.1401 0"
      rpy="0 0 0.043633" />
    <parent
      link="left_leg_pitch_link" />
    <child
      link="left_knee_motor_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="left_knee_linkage_link">
    <inertial>
      <origin
        xyz="0.095126 -1.9429E-16 0.017621"
        rpy="0 0 0" />
      <mass
        value="0.17943" />
      <inertia
        ixx="3.3456E-05"
        ixy="-3.6422E-19"
        ixz="9.918E-05"
        iyy="0.0005293"
        iyz="7.4539E-20"
        izz="0.00050164" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_linkage_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_linkage_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_knee_linkage_joint"
    type="fixed">
    <origin
      xyz="0.045 0 0"
      rpy="0 0 -1.5811" />
    <parent
      link="left_knee_motor_link" />
    <child
      link="left_knee_linkage_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>

  <!--right leg  --> 
  <link
    name="right_leg_roll_link">
    <inertial>
      <origin
        xyz="-0.0048592 0.00012789 -0.0028082"
        rpy="0 0 0" />
      <mass
        value="1.7968" />
      <inertia
        ixx="0.00366"
        ixy="-2.9821E-07"
        ixz="3.4702E-05"
        iyy="0.0026951"
        iyz="-3.6592E-08"
        izz="0.0025009" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_leg_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_leg_roll_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_leg_roll_joint"
    type="revolute">
    <origin
      xyz="-0.117 -0.032 0"
      rpy="0 0 -1.5708" />
    <parent
      link="waist_roll_link" />
    <child
      link="right_leg_roll_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.57"
      upper="0.44"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_leg_yaw_link">
    <inertial>
      <origin
        xyz="-0.0013541 -0.014654 0.077539"
        rpy="0 0 0" />
      <mass
        value="0.61483" />
      <inertia
        ixx="0.0012242"
        ixy="6.7341E-07"
        ixz="-2.2333E-05"
        iyy="0.0013918"
        iyz="0.00022312"
        izz="0.00048585" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_leg_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_leg_yaw_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_leg_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="3.1416 -1.5708 0" />
    <parent
      link="right_leg_roll_link" />
    <child
      link="right_leg_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.05"
      upper="1.05"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_leg_pitch_link">
    <inertial>
      <origin
        xyz="-0.002765 0.078563 -0.0082909"
        rpy="0 0 0" />
      <mass
        value="6.0357" />
      <inertia
        ixx="0.022938"
        ixy="-0.00028874"
        ixz="-1.0823E-05"
        iyy="0.0093892"
        iyz="0.00019005"
        izz="0.030611" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_leg_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_leg_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_leg_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0 0.1455"
      rpy="1.5708 0.5236 0" />
    <parent
      link="right_leg_yaw_link" />
    <child
      link="right_leg_pitch_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.31"
      upper="1.57"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_knee_link">
    <inertial>
      <origin
        xyz="0.0157 0.10784 8.556E-05"
        rpy="0 0 0" />
      <mass
        value="2.2302" />
      <inertia
        ixx="0.0087192"
        ixy="0.00020115"
        ixz="-4.6565E-08"
        iyy="0.0015781"
        iyz="2.3363E-06"
        izz="0.0088655" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_knee_joint"
    type="revolute">
    <origin
      xyz="0 0.32 0"
      rpy="0 0 1.0472" />
    <parent
      link="right_leg_pitch_link" />
    <child
      link="right_knee_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.1"
      upper="1.05"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_ankle_pitch_link">
    <inertial>
      <origin
        xyz="-1.55228117536201E-14 1.11022302462516E-16 -8.32667268468867E-17"
        rpy="0 0 0" />
      <mass
        value="0.0990000414231859" />
      <inertia
        ixx="4.40457123422134E-06"
        ixy="3.12475748198032E-22"
        ixz="1.56237874099016E-21"
        iyy="1.89085426072733E-05"
        iyz="7.81189370495079E-23"
        izz="1.89085426072733E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_ankle_pitch_joint"
    type="revolute">
    <origin
      xyz="0 0.32 0"
      rpy="3.1416 0 -0.5236" />
    <parent
      link="right_knee_link" />
    <child
      link="right_ankle_pitch_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.87"
      upper="0.7"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0.1" />
  </joint>
  <link
    name="right_ankle_roll_link">
    <inertial>
      <origin
        xyz="-1.8693E-06 -0.033529 0.02588"
        rpy="0 0 0" />
      <mass
        value="0.34253" />
      <inertia
        ixx="0.00084831"
        ixy="-5.637E-10"
        ixz="1.7502E-08"
        iyy="0.00093604"
        iyz="1.1636E-05"
        izz="0.00012758" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_ankle_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 1.5708 0" />
    <parent
      link="right_ankle_pitch_link" />
    <child
      link="right_ankle_roll_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.44"
      upper="0.44"
      effort="100"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0.1" />
  </joint>
  <link
    name="right_foot_ee_link">
    <inertial>
      <origin
        xyz="8.9304E-15 0.234 0.0055"
        rpy="0 0 0" />
      <mass
        value="0.000975" />
      <inertia
        ixx="4.0625E-09"
        ixy="-1.0877E-23"
        ixz="-1.7125E-23"
        iyy="4.0625E-09"
        iyz="-1.7854E-23"
        izz="4.0625E-09" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_foot_ee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_foot_ee_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_foot_ee_joint"
    type="fixed">
    <origin
      xyz="0 -0.056 0"
      rpy="-1.5708 -1.5708 0" />
    <parent
      link="right_ankle_roll_link" />
    <child
      link="right_foot_ee_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_ankle_pitch_motor1_link">
    <inertial>
      <origin
        xyz="0.01852 -1.4136E-09 0.011673"
        rpy="0 0 0" />
      <mass
        value="0.031448" />
      <inertia
        ixx="3.8092E-06"
        ixy="-6.6708E-13"
        ixz="4.6528E-07"
        iyy="1.2663E-05"
        iyz="-1.6738E-13"
        izz="1.5928E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_motor1_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_motor1_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_ankle_pitch_motor1_joint"
    type="fixed">
    <origin
      xyz="0.015 0.052915 -0.023"
      rpy="3.1416 0 2.936" />
    <parent
      link="right_knee_link" />
    <child
      link="right_ankle_pitch_motor1_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_ankle_pitch_linkage1_link">
    <inertial>
      <origin
        xyz="0.13224 -0.0023241 -2.7751E-05"
        rpy="0 0 0" />
      <mass
        value="0.066732" />
      <inertia
        ixx="1.4166E-06"
        ixy="-5.8871E-06"
        ixz="-7.0295E-08"
        iyy="0.00047775"
        iyz="-8.4139E-09"
        izz="0.00047846" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_linkage1_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_linkage1_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_ankle_pitch_linkage1_joint"
    type="fixed">
    <origin
      xyz="0.045 0 0"
      rpy="0 0 1.3474" />
    <parent
      link="right_ankle_pitch_motor1_link" />
    <child
      link="right_ankle_pitch_linkage1_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_ankle_pitch_motor2_link">
    <inertial>
      <origin
        xyz="0.01852 3.0386E-09 0.011673"
        rpy="0 0 0" />
      <mass
        value="0.031448" />
      <inertia
        ixx="3.8092E-06"
        ixy="5.1412E-13"
        ixz="4.6528E-07"
        iyy="1.2663E-05"
        iyz="-2.4423E-13"
        izz="1.5928E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_motor2_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_motor2_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_ankle_pitch_motor2_joint"
    type="fixed">
    <origin
      xyz="0.0175 0.12287 0.023"
      rpy="0 0 2.9329" />
    <parent
      link="right_knee_link" />
    <child
      link="right_ankle_pitch_motor2_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_ankle_pitch_linkage2_link">
    <inertial>
      <origin
        xyz="0.097472 0.002115 -2.9693E-05"
        rpy="0 0 0" />
      <mass
        value="0.050552" />
      <inertia
        ixx="1.1455E-06"
        ixy="3.1638E-06"
        ixz="-4.4417E-08"
        iyy="0.0002065"
        iyz="8.5102E-09"
        izz="0.0002071" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_linkage2_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_pitch_linkage2_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_ankle_pitch_linkage2_joint"
    type="fixed">
    <origin
      xyz="0.045 0 0"
      rpy="0 0 -1.3251" />
    <parent
      link="right_ankle_pitch_motor2_link" />
    <child
      link="right_ankle_pitch_linkage2_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="50"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_knee_motor_link">
    <inertial>
      <origin
        xyz="0.0052166 -5.5511E-17 0.023896"
        rpy="0 0 0" />
      <mass
        value="0.1157" />
      <inertia
        ixx="2.9641E-05"
        ixy="-7.6233E-21"
        ixz="1.1846E-06"
        iyy="4.4949E-05"
        iyz="1.2705E-21"
        izz="7.1289E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_motor_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_motor_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_knee_motor_joint"
    type="fixed">
    <origin
      xyz="-0.006 0.1401 0"
      rpy="0 0 -0.043633" />
    <parent
      link="right_leg_pitch_link" />
    <child
      link="right_knee_motor_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>
  <link
    name="right_knee_linkage_link">
    <inertial>
      <origin
        xyz="0.095126 0 0.017621"
        rpy="0 0 0" />
      <mass
        value="0.17943" />
      <inertia
        ixx="3.3456E-05"
        ixy="-2.3802E-19"
        ixz="9.918E-05"
        iyy="0.0005293"
        iyz="6.0986E-20"
        izz="0.00050164" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_linkage_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_linkage_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="right_knee_linkage_joint"
    type="fixed">
    <origin
      xyz="0.045 0 0"
      rpy="0 0 1.5811" />
    <parent
      link="right_knee_motor_link" />
    <child
      link="right_knee_linkage_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4"
      upper="4"
      effort="250"
      velocity="12" />
    <dynamics
      damping="0."
      friction="0." />
  </joint>

  <!--left hand-->
   <link
    name="left_hand_link">
    <inertial>
      <origin
        xyz="-0.0004446960229277 0.00281572153706024 -0.0580782201323042"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_fixed_joint"
    type="fixed">
    <origin
      xyz="0.0 0 0.1135"
      rpy="0 3.1415926 3.1415926" />
    <parent
      link="left_wrist_yaw_link" />
    <child
      link="left_hand_link" />
  </joint>
  <link
    name="left_hand_thumb_bend_link">
    <inertial>
      <origin
        xyz="0.0179386429344406 -0.00293076802887762 0.00225000000000058"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_bend_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_bend_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_thumb_bend_joint"
    type="fixed">
    <origin
      xyz="0.02503 -0.013 -0.03275"
      rpy="0 0 0" />
    <parent
      link="left_hand_link" />
    <child
      link="left_hand_thumb_bend_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_thumb_rota_link1">
    <inertial>
      <origin
        xyz="0.0300000050134235 -1.02163902337971E-10 0.000523850476663684"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_rota_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_rota_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_thumb_rota_joint1"
    type="fixed">
    <origin
      xyz="0.032173 -0.0035045 0.00225"
      rpy="0 0 0" />
    <parent
      link="left_hand_thumb_bend_link" />
    <child
      link="left_hand_thumb_rota_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_thumb_rota_link2">
    <inertial>
      <origin
        xyz="0.0212369362539032 3.76688634729297E-06 0.000805499878558189"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_rota_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_rota_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_thumb_rota_joint2"
    type="fixed">
    <origin
      xyz="0.06 0 0"
      rpy="0 0 0" />
    <parent
      link="left_hand_thumb_rota_link1" />
    <child
      link="left_hand_thumb_rota_link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_thumb_tip">
    <inertial>
      <origin
        xyz="2.77555756156289E-17 2.18922102668273E-15 -1.17614251671228E-15"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_thumb_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_thumb_tip_joint"
    type="fixed">
    <origin
      xyz="0.051457 0 0"
      rpy="0 0 0" />
    <parent
      link="left_hand_thumb_rota_link2" />
    <child
      link="left_hand_thumb_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
 <link
    name="left_hand_index_rota_link1">
    <inertial>
      <origin
        xyz="3.99136486999713E-06 0.00165196763865699 -0.0418295886915027"
        rpy="0 0 0" />
      <mass
        value="0.0792128309616318" />
      <inertia
        ixx="2.7317921078962E-05"
        ixy="-3.12074785307059E-09"
        ixz="-1.14039594573647E-09"
        iyy="2.58685008629742E-05"
        iyz="-5.29252413650239E-07"
        izz="6.13281889095743E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_index_rota_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_index_rota_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_index_joint1"
    type="fixed">
    <origin
      xyz="0.03583 0 -0.1067"
      rpy="0 0 0" />
    <parent
      link="left_hand_link" />
    <child
      link="left_hand_index_rota_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1.57"
      upper="0.24"
      effort="0.56"
      velocity="9.82" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_index_rota_link2">
    <inertial>
      <origin
        xyz="1.23620880268516E-08 0.000272146436219044 -0.0237372832197695"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_index_rota_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_index_rota_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_index_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06675"
      rpy="0 0 0" />
    <parent
      link="left_hand_index_rota_link1" />
    <child
      link="left_hand_index_rota_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_index_tip">
    <inertial>
      <origin
        xyz="0 8.08381139805192E-16 -2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_index_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_index_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_index_tip_link"
    type="fixed">
    <origin
      xyz="0 0 -0.0532473502691896"
      rpy="0 0 0" />
    <parent
      link="left_hand_index_rota_link2" />
    <child
      link="left_hand_index_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_hand_mid_link1">
    <inertial>
      <origin
        xyz="3.9568861513288E-06 0.00162087664547146 -0.0402835815589407"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_mid_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_mid_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_mid_joint1"
    type="fixed">
    <origin
      xyz="0.00533 -0.008 -0.1072"
      rpy="0 0 0" />
    <parent
      link="left_hand_link" />
    <child
      link="left_hand_mid_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_mid_link2">
    <inertial>
      <origin
        xyz="1.23620879635342E-08 0.000272146436218273 -0.0237372832197703"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_mid_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_mid_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_mid_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06525"
      rpy="0 0 0" />
    <parent
      link="left_hand_mid_link1" />
    <child
      link="left_hand_mid_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_mid_tip">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_mid_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_mid_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_mid_tip_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.0532473502691905"
      rpy="0 0 0" />
    <parent
      link="left_hand_mid_link2" />
    <child
      link="left_hand_mid_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_hand_ring_link1">
    <inertial>
      <origin
        xyz="3.95688615132186E-06 0.00162087664547159 -0.0402835815589407"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ring_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ring_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_ring_joint1"
    type="fixed">
    <origin
      xyz="-0.01867 -0.008 -0.1032"
      rpy="0 0 0" />
    <parent
      link="left_hand_link" />
    <child
      link="left_hand_ring_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_ring_link2">
    <inertial>
      <origin
        xyz="1.23620863060059E-08 0.000272146436218248 -0.0237372832197703"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ring_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ring_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_ring_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06525"
      rpy="0 0 0" />
    <parent
      link="left_hand_ring_link1" />
    <child
      link="left_hand_ring_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_ring_tip">
    <inertial>
      <origin
        xyz="-3.46944695195361E-18 1.73472347597681E-18 -2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ring_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ring_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_ring_tip_link"
    type="fixed">
    <origin
      xyz="0 0 -0.0532473502691904"
      rpy="0 0 0" />
    <parent
      link="left_hand_ring_link2" />
    <child
      link="left_hand_ring_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_hand_pinky_link1">
    <inertial>
      <origin
        xyz="3.95688615278944E-06 0.0016208766454722 -0.0402835815589405"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_pinky_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_pinky_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_pinky_joint1"
    type="fixed">
    <origin
      xyz="-0.04267 -0.008 -0.0992"
      rpy="0 0 0" />
    <parent
      link="left_hand_link" />
    <child
      link="left_hand_pinky_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_pinky_link2">
    <inertial>
      <origin
        xyz="1.23620888803355E-08 0.000272146436219168 -0.0237372832197701"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_pinky_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_pinky_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_pinky_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06525"
      rpy="0 0 0" />
    <parent
      link="left_hand_pinky_link1" />
    <child
      link="left_hand_pinky_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="left_hand_pinky_tip">
    <inertial>
      <origin
        xyz="0 1.73472347597681E-18 -2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_pinky_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_pinky_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_pinky_tip_link"
    type="fixed">
    <origin
      xyz="0 0 -0.0532473502691902"
      rpy="0 0 0" />
    <parent
      link="left_hand_pinky_link2" />
    <child
      link="left_hand_pinky_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_hand_ee_link">
    <inertial>
      <origin
        xyz="5.06494379885543E-19 -0.0300000000000001 -1.38777878078145E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hand_ee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hand_ee_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.08"
      rpy="0 3.1415926 3.1415926" />
    <parent
      link="left_hand_link" />
    <child
      link="left_hand_ee_link" />
    <axis
      xyz="0 0 0" />
  </joint> 

  <!--right hand-->
  <link
    name="right_hand_link">
    <inertial>
      <origin
        xyz="-0.000444704750010933 -0.00281572351045234 -0.0580782368466271"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_link.STL" />
      </geometry>
    </collision>
  </link>  
  <joint
    name="right_hand_fixed_joint"
    type="fixed">
    <origin
      xyz="0.0 0.0 0.1135"
      rpy="0.0 3.1415926 3.1415926" />
    <parent
      link="right_wrist_yaw_link" />
    <child
      link="right_hand_link" />
  </joint>
  <link
    name="right_hand_thumb_bend_link">
    <inertial>
      <origin
        xyz="0.0186386429344406 0.00493076802887559 0.00225000000000092"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_bend_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_bend_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_bend_joint"
    type="fixed">
    <origin
      xyz="0.02433 0.011 -0.03275"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_thumb_bend_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_thumb_rota_link1">
    <inertial>
      <origin
        xyz="0.0300000050134138 -1.02162160675601E-10 0.000523830503773276"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_rota_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_rota_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rota_joint1"
    type="fixed">
    <origin
      xyz="0.032873 0.0055045 0.00225"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_bend_link" />
    <child
      link="right_hand_thumb_rota_link1" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_thumb_rota_link2">
    <inertial>
      <origin
        xyz="0.0212369362539032 3.76688634729991E-06 0.000805499878558092"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_rota_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_rota_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rota_joint2"
    type="fixed">
    <origin
      xyz="0.06 0 0"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_rota_link1" />
    <child
      link="right_hand_thumb_rota_link2" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_thumb_rota_tip">
    <inertial>
      <origin
        xyz="2.77555756156289E-17 0 -3.46944695195361E-18"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_rota_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_thumb_rota_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_thumb_rota_tip_joint"
    type="fixed">
    <origin
      xyz="0.051457 0 0"
      rpy="0 0 0" />
    <parent
      link="right_hand_thumb_rota_link2" />
    <child
      link="right_hand_thumb_rota_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_hand_mid_link1">
    <inertial>
      <origin
        xyz="-3.95688615073379E-06 -0.00162087664547151 -0.0402835815589399"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_mid_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_mid_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_mid_joint1"
    type="fixed">
    <origin
      xyz="0.00533 0.008 -0.1072"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_mid_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_mid_link2">
    <inertial>
      <origin
        xyz="-1.23620880346578E-08 -0.000272146436218238 -0.0237372832197695"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_mid_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_mid_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_mid_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06525"
      rpy="0 0 0" />
    <parent
      link="right_hand_mid_link1" />
    <child
      link="right_hand_mid_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_mid_tip">
    <inertial>
      <origin
        xyz="0 1.56125112837913E-17 2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_mid_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_mid_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_mid_tip_link"
    type="fixed">
    <origin
      xyz="0 0 -0.053247"
      rpy="0 0 0" />
    <parent
      link="right_hand_mid_link2" />
    <child
      link="right_hand_mid_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_hand_ring_link1">
    <inertial>
      <origin
        xyz="-3.95688615035389E-06 -0.00162087664547155 -0.0402835815589399"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ring_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ring_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ring_joint1"
    type="fixed">
    <origin
      xyz="-0.01867 0.008 -0.1032"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_ring_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_ring_link2">
    <inertial>
      <origin
        xyz="-1.23620880268516E-08 -0.00027214643621821 -0.0237372832197696"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ring_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ring_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ring_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06525"
      rpy="0 0 0" />
    <parent
      link="right_hand_ring_link1" />
    <child
      link="right_hand_ring_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_ring_tip">
    <inertial>
      <origin
        xyz="0 6.93889390390723E-18 -2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ring_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ring_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ring_tip_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.0532473502691896"
      rpy="0 0 0" />
    <parent
      link="right_hand_ring_link2" />
    <child
      link="right_hand_ring_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_hand_pinky_link1">
    <inertial>
      <origin
        xyz="-3.95688614933387E-06 -0.00162087664547155 -0.0402835815589385"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_pinky_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_pinky_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinky_joint1"
    type="fixed">
    <origin
      xyz="-0.04267 0.008 -0.0992"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_pinky_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_pinky_link2">
    <inertial>
      <origin
        xyz="-1.23620880337905E-08 -0.000272146436218182 -0.0237372832197692"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_pinky_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_pinky_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinky_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06525"
      rpy="0 0 0" />
    <parent
      link="right_hand_pinky_link1" />
    <child
      link="right_hand_pinky_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
<link
    name="right_hand_pinky_tip">
    <inertial>
      <origin
        xyz="-6.93889390390723E-18 -1.04083408558608E-17 -2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_pinky_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_pinky_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_pinky_tip_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.053247"
      rpy="0 0 0" />
    <parent
      link="right_hand_pinky_link2" />
    <child
      link="right_hand_pinky_tip" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_hand_ee_link">
    <inertial>
      <origin
        xyz="1.17549435082229E-34 0.0300000000000001 -1.38777878078145E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_ee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_ee_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.08"
      rpy="0 3.1415926 3.1415926" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_ee_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_hand_index_rota_link1">
    <inertial>
      <origin
        xyz="-3.99136487025387E-06 -0.00165196763865709 -0.0418295886915023"
        rpy="0 0 0" />
      <mass
        value="0.0792128309616318" />
      <inertia
        ixx="2.73179210789584E-05"
        ixy="-3.12074785316044E-09"
        ixz="1.14039594570478E-09"
        iyy="2.58685008629749E-05"
        iyz="5.29252413650529E-07"
        izz="6.13281889095306E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_index_rota_link1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_index_rota_link1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_joint1"
    type="fixed">
    <origin
      xyz="0.03583 0.006 -0.1067"
      rpy="0 0 0" />
    <parent
      link="right_hand_link" />
    <child
      link="right_hand_index_rota_link1" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.24"
      upper="1.57"
      effort="0.56"
      velocity="9.82" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_index_rota_link2">
    <inertial>
      <origin
        xyz="-1.23620882350184E-08 -0.000272146436218233 -0.0237372832197686"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_index_rota_link2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_index_rota_link2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_joint2"
    type="fixed">
    <origin
      xyz="0 0 -0.06675"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_rota_link1" />
    <child
      link="right_hand_index_rota_link2" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="0.0"
      velocity="0.0" />
    <dynamics
      damping="1"
      friction="1" />
  </joint>
  <link
    name="right_hand_index_tip">
    <inertial>
      <origin
        xyz="-1.38777878078145E-17 8.67361737988404E-19 -2.77555756156289E-17"
        rpy="0 0 0" />
      <mass
        value="0.0" />
      <inertia
        ixx="0.0"
        ixy="0.0"
        ixz="0.0"
        iyy="0.0"
        iyz="0.0"
        izz="0.0" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_index_tip.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hand_index_tip.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hand_index_tip_joint"
    type="fixed">
    <origin
      xyz="0 0 -0.053247"
      rpy="0 0 0" />
    <parent
      link="right_hand_index_rota_link2" />
    <child
      link="right_hand_index_tip" />
    <axis
      xyz="0 0 0" />
  </joint>

  <!--left_arm_flange_link -->
  <link name="left_arm_flange_link">
		<!-- <visual>
			<origin xyz=" 0 0 0 " rpy="0 0 0" />
			<geometry>
				<cylinder length="0.01" radius="0.01"/>
			</geometry>
			<material name="black"/>
		</visual> -->
    </link> 
  <joint
    name="left_arm_flange_fixed_joint"
    type="fixed">
    <origin
      xyz="0.0 0 0.1135"
      rpy="0 0 0" />
    <parent
      link="left_wrist_yaw_link" />
    <child
      link="left_arm_flange_link" />
  </joint>


  <!--right_arm_flange_link -->
    <link name="right_arm_flange_link">
		<!-- <visual>
			<origin xyz=" 0 0 0 " rpy="0 0 0" />
			<geometry>
				<cylinder length="0.01" radius="0.01"/>
			</geometry>
			<material name="black"/>
		</visual> -->
    </link> 
  <joint
    name="right_arm_flange_fixed_joint"
    type="fixed">
    <origin
      xyz="0.0 0.0 0.1135"
      rpy="0.0 0.0 0.0" />
    <parent
      link="right_wrist_yaw_link" />
    <child
      link="right_arm_flange_link" />
  </joint>



<!--lfoot_bottom_joint -->
    <link name="l_foot_bottom_link">
		<!-- <visual>
			<origin xyz=" 0 0 0 " rpy="0 0 0" />
			<geometry>
				<cylinder length="0.01" radius="0.01"/>
			</geometry>
			<material name="black"/>
		</visual> -->
    </link>
 
    <joint name="lfoot_bottom_joint" type="fixed">
        <origin xyz="0 0 -0.000" rpy="0 0 0"/>
        <parent link="left_foot_ee_link"/>
        <child link="l_foot_bottom_link"/>
    </joint>


<!--rfoot_bottom_joint -->
    <link name="r_foot_bottom_link">
		<!-- <visual>
			<origin xyz=" 0 0 0 " rpy="0 0 0" />
			<geometry>
				<cylinder length="0.01" radius="0.01"/>
			</geometry>
			<material name="black"/>
		</visual> -->
    </link>
 
    <joint name="rfoot_bottom_joint" type="fixed">
        <origin xyz="0 0 -0.000" rpy="0 0 0"/>
        <parent link="right_foot_ee_link"/>
        <child link="r_foot_bottom_link"/>
    </joint>  

  <link name="left_arm_vr_ee">
    </link> 
    <joint
    name="left_arm_vr_ee_fixed_joint"
    type="fixed">
    <origin
      xyz="0.0 0.0 0.0"
      rpy="3.1415926 0.0 0.0" />
    <parent
      link="left_arm_flange_link" />
    <child
      link="left_arm_vr_ee" />
  </joint>

  <link name="right_arm_vr_ee">
    </link> 
    <joint
    name="right_arm_vr_ee_fixed_joint"
    type="fixed">
    <origin
      xyz="0.0 0.0 0.0"
      rpy="3.1415926 0.0 0.0" />
    <parent
      link="right_arm_flange_link" />
    <child
      link="right_arm_vr_ee" />
  </joint>


</robot>
