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  1. <robot name="H20_robot">
  2.  
  3.  
  4.  <link name="stand_link">
  5.  
  6.   <visual>
  7.       <geometry>
  8.         <box size="0.20 0.10 1"/>
  9.       </geometry>
  10.         <origin rpy="0 0 0" xyz="0 0 -.5"/>
  11.         <material name="orange">
  12.                 <color rgba="1 0.5 0 1"/>
  13.         </material>
  14.     </visual>
  15.  
  16.     <collision>
  17.       <geometry>
  18.        <box size="0.20 0.10 1"/>
  19.       </geometry>
  20.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  21.         <origin rpy="0 0 0" xyz="0 0 -.5"/>
  22.     </collision>
  23.  
  24.     <inertial>
  25.       <mass value="20.0"/>
  26.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  27.         <origin/>
  28.     </inertial>
  29.  
  30.   </link>
  31.  
  32.  <link name="base_link">
  33.     <visual>
  34.       <geometry>
  35.         <cylinder length="0.38" radius="0.0325"/>
  36.       </geometry>
  37.         <origin rpy="0 1.57057 0" xyz="0 0 0"/>
  38.           <material name="grey">
  39.         <color rgba="0.5 0.5 0.5 1"/>
  40.       </material>
  41.     </visual>
  42.  
  43.     <collision>
  44.       <geometry>
  45.         <cylinder length="0.38" radius="0.0325"/>
  46.       </geometry>
  47.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  48.         <origin rpy="0 1.57057 0" xyz="0 0 0"/>  
  49.         </collision>
  50.  
  51.     <inertial>
  52.       <mass value="10.0"/>
  53.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  54.         <origin/>
  55.     </inertial>
  56.  
  57. </link>
  58.  
  59.   <joint name="base_to_stand" type="fixed">
  60.     <parent link="stand_link"/>
  61.     <child link="base_link"/>
  62.         <origin xyz="0 0 0" rpy="0 0 0" />
  63.  </joint>
  64.  
  65.  <link name="head_link">
  66.     <visual>
  67.       <geometry>
  68.          <sphere radius="0.15"/>
  69.       </geometry>
  70.         <origin rpy="0 0 0" xyz="0 0 0.1825"/>
  71.           <material name="orange"/>
  72.     </visual>
  73.  
  74.     <collision>
  75.       <geometry>
  76.          <sphere radius="0.15"/>
  77.       </geometry>
  78.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  79.         <origin rpy="0 0 0" xyz="0 0 0.1825"/>
  80.     </collision>
  81.  
  82.     <inertial>
  83.       <mass value="2.0"/>
  84.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  85.         <origin/>
  86.     </inertial>
  87.  
  88.   </link>
  89.  
  90.   <joint name="head_to_base" type="fixed">
  91.     <parent link="base_link"/>
  92.     <child link="head_link"/>
  93.         <origin xyz="0 0 0" rpy="0 0 0" />
  94.  </joint>
  95.  
  96.  
  97.   <link name="left_shoulder_link">
  98.     <visual>
  99.       <geometry>
  100.         <cylinder length="0.06" radius="0.0175"/>
  101.       </geometry>
  102.           <material name="grey"/>
  103.         <origin rpy="0 1.57057 0" xyz="0.03 0 0"/>
  104.     </visual>
  105.  
  106.     <collision>
  107.       <geometry>
  108.         <cylinder length="0.06" radius="0.0175"/>
  109.       </geometry>
  110.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  111.         <origin rpy="0 1.57057 0" xyz="0.03 0 0"/>
  112.     </collision>
  113.  
  114.     <inertial>
  115.       <mass value="2.5"/>
  116.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  117.         <origin/>
  118.     </inertial>
  119.  
  120.   </link>
  121.  
  122.   <joint name="base_to_left_shoulder" type="revolute">
  123.     <parent link="base_link"/>
  124.     <child link="left_shoulder_link"/>
  125.         <origin xyz="0.19 0 0" rpy="0 0 0" />
  126.         <axis xyz="1 0 0" />
  127. <limit effort="1000.0" lower="-3.14" upper="1.57" velocity="0.5"/>
  128.  </joint>
  129.  
  130.  <link name="right_shoulder_link">
  131.     <visual>
  132.       <geometry>
  133.         <cylinder length="0.06" radius="0.0175"/>
  134.       </geometry>
  135.           <material name="grey"/>
  136.         <origin rpy="0 -1.57057 0" xyz="-0.03 0 0"/>
  137.     </visual>
  138.  
  139.     <collision>
  140.       <geometry>
  141.         <cylinder length="0.06" radius="0.0175"/>
  142.       </geometry>
  143.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  144.         <origin rpy="0 -1.57057 0" xyz="-0.03 0 0"/>
  145.     </collision>
  146.  
  147.     <inertial>
  148.       <mass value="0.5"/>
  149.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  150.         <origin/>
  151.     </inertial>
  152.  
  153.  </link>
  154.  
  155.   <joint name="base_to_right_shoulder" type="revolute">
  156.     <parent link="base_link"/>
  157.     <child link="right_shoulder_link"/>
  158.         <origin xyz="-0.19 0 0" rpy="0 0 0" />
  159.         <axis xyz="1 0 0" />
  160. <limit effort="1000.0" lower="-3.14" upper="1.57" velocity="0.5"/>
  161.  </joint>
  162.  
  163.  
  164.   <link name="left_rotator_link">
  165.     <visual>
  166.       <geometry>
  167.         <cylinder length="0.0150" radius="0.01"/>
  168.       </geometry>
  169.           <material name="grey"/>
  170.         <origin rpy="1.57 0 0" xyz="0.045 0 0"/>
  171.     </visual>
  172.  
  173.     <collision>
  174.       <geometry>
  175.            <cylinder length="0.0150" radius="0.01"/>
  176.       </geometry>
  177.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  178.         <origin rpy="1.57 0 0" xyz="0.045 0 0"/>
  179.     </collision>
  180.  
  181.     <inertial>
  182.       <mass value="0.1"/>
  183.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  184.         <origin/>
  185.     </inertial>
  186.  
  187. </link>
  188.  
  189.  
  190.   <joint name="left_shoulder_to_rotator" type="fixed">
  191.     <parent link="left_shoulder_link"/>
  192.     <child link="left_rotator_link"/>
  193.         <origin xyz="0 0.025 0" rpy="0 0 0" />
  194.  </joint>
  195.  
  196.  <link name="right_rotator_link">
  197.     <visual>
  198.       <geometry>
  199.         <cylinder length="0.0150" radius="0.01"/>
  200.       </geometry>
  201.           <material name="grey"/>
  202.         <origin rpy="-1.57 0 0" xyz="-0.045 0 0"/>
  203.     </visual>
  204.     <collision>
  205.       <geometry>
  206.            <cylinder length="0.0150" radius="0.01"/>
  207.       </geometry>
  208.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  209.         <origin rpy="-1.57 0 0" xyz="-0.045 0 0"/>
  210.     </collision>
  211.  
  212.     <inertial>
  213.       <mass value="0.1"/>
  214.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  215.         <origin/>
  216.     </inertial>
  217.  
  218.   </link>
  219.  
  220.  
  221.   <joint name="right_shoulder_to_rotator" type="fixed">
  222.     <parent link="right_shoulder_link"/>
  223.     <child link="right_rotator_link"/>
  224.         <origin xyz="0 0.025 0" rpy="0 0 0" />
  225.  </joint>
  226.  
  227.  
  228.   <link name="left_tricep_link">
  229.     <visual>
  230.       <geometry>
  231.         <cylinder length="0.29" radius="0.0325"/>
  232.       </geometry>
  233.           <material name="grey"/>
  234.         <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
  235.     </visual>
  236.  
  237.     <collision>
  238.       <geometry>
  239.         <cylinder length="0.29" radius="0.0325"/>
  240.       </geometry>
  241.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  242.         <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
  243.     </collision>
  244.  
  245.     <inertial>
  246.       <mass value="5.0"/>
  247.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  248.         <origin/>
  249.     </inertial>
  250.  
  251.   </link>
  252.  
  253.  
  254.   <joint name="left_rotator_to_tricep" type="revolute">
  255.     <parent link="left_rotator_link"/>
  256.     <child link="left_tricep_link"/>
  257.         <origin xyz="0.045 0.0075 0" rpy="0 0 0" />
  258.         <axis xyz="0 1 0" />
  259. <limit effort="1000.0" lower="-1.57" upper="0" velocity="0.5"/>
  260.  </joint>
  261.  
  262.   <link name="right_tricep_link">
  263.     <visual>
  264.       <geometry>
  265.         <cylinder length="0.29" radius="0.0325"/>
  266.       </geometry>
  267.           <material name="grey"/>
  268.         <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
  269.     </visual>
  270.  
  271.     <collision>
  272.       <geometry>
  273.         <cylinder length="0.29" radius="0.0325"/>
  274.       </geometry>
  275.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  276.         <origin rpy="0 0 0" xyz="0 0.0325 -.105"/>
  277.     </collision>
  278.  
  279.     <inertial>
  280.       <mass value="5.0"/>
  281.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  282.         <origin/>
  283.     </inertial>
  284.  
  285.   </link>
  286.  
  287.  
  288.   <joint name="right_rotator_to_tricep" type="revolute">
  289.     <parent link="right_rotator_link"/>
  290.     <child link="right_tricep_link"/>
  291.         <origin xyz="-0.045 0.0075 0" rpy="0 0 0" />
  292.         <axis xyz="0 -1 0" />
  293. <limit effort="1000.0" lower="-1.57" upper="0" velocity="0.5"/>
  294.  </joint>
  295.  
  296.  
  297.   <link name="left_upper_bicep_link">
  298.     <visual>
  299.       <geometry>
  300.         <cylinder length="0.145" radius="0.0325"/>
  301.       </geometry>
  302.           <material name="grey"/>
  303.         <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
  304.     </visual>
  305.  
  306.     <collision>
  307.       <geometry>
  308.         <cylinder length="0.145" radius="0.0325"/>
  309.       </geometry>
  310.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  311.         <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
  312.     </collision>
  313.  
  314.     <inertial>
  315.       <mass value="2.5"/>
  316.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  317.         <origin/>
  318.     </inertial>
  319.  
  320.   </link>
  321.  
  322.   <joint name="left_tricep_to_upper_bicep" type="fixed">
  323.     <parent link="left_tricep_link"/>
  324.     <child link="left_upper_bicep_link"/>
  325.         <origin xyz="0 0 -.145" rpy="0 0 0" />
  326.  </joint>
  327.  
  328.   <link name="right_upper_bicep_link">
  329.     <visual>
  330.       <geometry>
  331.         <cylinder length="0.145" radius="0.0325"/>
  332.       </geometry>
  333.           <material name="grey"/>
  334.         <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
  335.     </visual>
  336.  
  337.     <collision>
  338.       <geometry>
  339.         <cylinder length="0.145" radius="0.0325"/>
  340.       </geometry>
  341.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  342.         <origin rpy="0 0 0" xyz="0 -0.0325 0"/>
  343.     </collision>
  344.  
  345.     <inertial>
  346.       <mass value="2.5"/>
  347.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  348.         <origin/>
  349.     </inertial>
  350.  
  351.   </link>
  352.  
  353.   <joint name="right_tricep_to_upper_bicep" type="fixed">
  354.     <parent link="right_tricep_link"/>
  355.     <child link="right_upper_bicep_link"/>
  356.         <origin xyz="0 0 -.145" rpy="0 0 0" />
  357.  </joint>
  358.  
  359.   <link name="left_lower_bicep_link">
  360.     <visual>
  361.       <geometry>
  362.         <cylinder length="0.11" radius="0.0175"/>
  363.       </geometry>
  364.           <material name="grey"/>
  365.         <origin rpy="0 0 0" xyz="0 0 -0.055"/>
  366.     </visual>
  367.  
  368.     <collision>
  369.       <geometry>
  370.         <cylinder length="0.11" radius="0.0175"/>
  371.       </geometry>
  372.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  373.         <origin rpy="0 0 0" xyz="0 0 -0.055"/>
  374.     </collision>
  375.  
  376.     <inertial>
  377.       <mass value="2.5"/>
  378.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  379.         <origin/>
  380.     </inertial>
  381.  
  382.   </link>
  383.  
  384.   <joint name="left_upper_to_lower_bicep" type="revolute">
  385.     <parent link="left_upper_bicep_link"/>
  386.     <child link="left_lower_bicep_link"/>
  387.         <origin xyz="0 -.0325 -0.0725" rpy="0 0 0" />
  388.         <axis xyz="0 0 1" />
  389. <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
  390. </joint>
  391.  
  392.  
  393.   <link name="right_lower_bicep_link">
  394.     <visual>
  395.       <geometry>
  396.         <cylinder length="0.11" radius="0.0175"/>
  397.       </geometry>
  398.           <material name="grey"/>
  399.         <origin rpy="0 0 0" xyz="0 0 -0.055"/>
  400.     </visual>
  401.  
  402.     <collision>
  403.       <geometry>
  404.         <cylinder length="0.11" radius="0.0175"/>
  405.       </geometry>
  406.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  407.         <origin rpy="0 0 0" xyz="0 0 -0.055"/>
  408.     </collision>
  409.  
  410.     <inertial>
  411.       <mass value="2.5"/>
  412.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  413.         <origin/>
  414.     </inertial>
  415.  
  416.   </link>
  417.  
  418.   <joint name="right_upper_to_lower_bicep" type="revolute">
  419.     <parent link="right_upper_bicep_link"/>
  420.     <child link="right_lower_bicep_link"/>
  421.         <origin xyz="0 -.0325 -0.0725" rpy="0 0 0" />
  422.         <axis xyz="0 0 -1" />
  423. <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
  424. </joint>
  425.  
  426.   <link name="left_upper_forearm_link">
  427.     <visual>
  428.       <geometry>
  429.         <cylinder length="0.27" radius="0.0325"/>
  430.       </geometry>
  431.           <material name="orange"/>
  432.         <origin rpy="0 0 0" xyz="-0.0325 0 -0.095"/>
  433.     </visual>
  434.  
  435.     <collision>
  436.       <geometry>
  437.         <cylinder length="0.27" radius="0.0325"/>
  438.       </geometry>
  439.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  440.         <origin rpy="0 0 0" xyz="-0.0325 0 -0.095"/>
  441.     </collision>
  442.  
  443.     <inertial>
  444.       <mass value="2.5"/>
  445.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  446.         <origin/>
  447.     </inertial>
  448.  
  449. </link>
  450.  
  451.   <joint name="left_lower_bicep_to_upper_forearm" type="revolute">
  452.     <parent link="left_lower_bicep_link"/>
  453.     <child link="left_upper_forearm_link"/>
  454.         <origin xyz="0 0 -.11" rpy="0 0 0" />
  455.         <axis xyz="1 0 0" />
  456. <limit effort="1000.0" lower="-2.39" upper="0.785" velocity="0.5"/>
  457. </joint>
  458.  
  459.   <link name="right_upper_forearm_link">
  460.     <visual>
  461.       <geometry>
  462.         <cylinder length="0.27" radius="0.0325"/>
  463.       </geometry>
  464.           <material name="orange"/>
  465.         <origin rpy="0 0 0" xyz="0.0325 0 -0.095"/>
  466.     </visual>
  467.  
  468.     <collision>
  469.       <geometry>
  470.         <cylinder length="0.27" radius="0.0325"/>
  471.       </geometry>
  472.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  473.         <origin rpy="0 0 0" xyz="0.0325 0 -0.095"/>
  474.     </collision>
  475.  
  476.     <inertial>
  477.       <mass value="2.5"/>
  478.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  479.         <origin/>
  480.     </inertial>
  481.  
  482. </link>
  483.  
  484.   <joint name="right_lower_bicep_to_upper_forearm" type="revolute">
  485.     <parent link="right_lower_bicep_link"/>
  486.     <child link="right_upper_forearm_link"/>
  487.         <origin xyz="0 0 -.11" rpy="0 0 0" />
  488.         <axis xyz="1 0 0" />
  489. <limit effort="1000.0" lower="-2.39" upper="0.785" velocity="0.5"/>
  490. </joint>
  491.  
  492.  
  493.   <link name="left_lower_forearm_link">
  494.     <visual>
  495.       <geometry>
  496.         <cylinder length="0.065" radius="0.0325"/>
  497.       </geometry>
  498.           <material name="orange"/>
  499.         <origin rpy="0 0 0" xyz="0 0 -.1975"/>
  500.     </visual>
  501.  
  502.     <collision>
  503.       <geometry>
  504.         <cylinder length="0.065" radius="0.0325"/>
  505.       </geometry>
  506.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  507.         <origin rpy="0 0 0" xyz="0 0 -.1975"/>
  508.     </collision>
  509.  
  510.     <inertial>
  511.       <mass value="2.5"/>
  512.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  513.         <origin/>
  514.     </inertial>
  515.  
  516.   </link>
  517.  
  518.   <joint name="left_upper_to_lower_forearm" type="fixed">
  519.     <parent link="left_upper_forearm_link"/>
  520.     <child link="left_lower_forearm_link"/>
  521.         <origin xyz="0 0 0" rpy="0 0 0" />
  522. </joint>
  523.  
  524.  
  525.   <link name="right_lower_forearm_link">
  526.     <visual>
  527.       <geometry>
  528.         <cylinder length="0.065" radius="0.0325"/>
  529.       </geometry>
  530.           <material name="orange"/>
  531.         <origin rpy="0 0 0" xyz="0 0 -.1975"/>
  532.     </visual>
  533.  
  534.     <collision>
  535.       <geometry>
  536.         <cylinder length="0.065" radius="0.0325"/>
  537.       </geometry>
  538.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  539.         <origin rpy="0 0 0" xyz="0 0 -.1975"/>
  540.     </collision>
  541.  
  542.     <inertial>
  543.       <mass value="2.5"/>
  544.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  545.         <origin/>
  546.     </inertial>
  547.  
  548.   </link>
  549.  
  550.   <joint name="right_upper_to_lower_forearm" type="fixed">
  551.     <parent link="right_upper_forearm_link"/>
  552.     <child link="right_lower_forearm_link"/>
  553.         <origin xyz="0 0 0" rpy="0 0 0" />
  554. </joint>
  555.  
  556.  
  557.   <link name="left_wrist_link">
  558.     <visual>
  559.       <geometry>
  560.         <cylinder length="0.055" radius="0.0175"/>
  561.       </geometry>
  562.           <material name="orange"/>
  563.         <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
  564.     </visual>
  565.  
  566.     <collision>
  567.       <geometry>
  568.         <cylinder length="0.055" radius="0.0175"/>
  569.       </geometry>
  570.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  571.         <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
  572.     </collision>
  573.  
  574.     <inertial>
  575.       <mass value="1.0"/>
  576.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  577.         <origin/>
  578.     </inertial>
  579.  
  580. </link>
  581.  
  582.   <joint name="left_lower_forearm_to_wrist" type="revolute">
  583.     <parent link="left_lower_forearm_link"/>
  584.     <child link="left_wrist_link"/>
  585.         <origin xyz="0 0 -.23" rpy="0 0 0" />
  586.         <axis xyz="0 0 1" />
  587. <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
  588. </joint>
  589.  
  590.  <link name="right_wrist_link">
  591.     <visual>
  592.       <geometry>
  593.         <cylinder length="0.055" radius="0.0175"/>
  594.       </geometry>
  595.           <material name="orange"/>
  596.         <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
  597.     </visual>
  598.  
  599.     <collision>
  600.       <geometry>
  601.         <cylinder length="0.055" radius="0.0175"/>
  602.       </geometry>
  603.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  604.         <origin rpy="0 0 0" xyz="0 0 -0.0275"/>
  605.     </collision>
  606.  
  607.     <inertial>
  608.       <mass value="1.0"/>
  609.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  610.         <origin/>
  611.     </inertial>
  612.  
  613.   </link>
  614.  
  615.   <joint name="right_lower_forearm_to_wrist" type="revolute">
  616.     <parent link="right_lower_forearm_link"/>
  617.     <child link="right_wrist_link"/>
  618.         <origin xyz="0 0 -.23" rpy="0 0 0" />
  619.         <axis xyz="0 0 -1" />
  620. <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
  621. </joint>
  622.  
  623.  
  624.  
  625.   <link name="left_hand_link">
  626.     <visual>
  627.       <geometry>
  628.         <box size="0.04 0.05 0.09"/>
  629.       </geometry>
  630.           <material name="orange"/>
  631.         <origin rpy="0 0 0" xyz="0 0 -0.045"/>
  632.     </visual>
  633.  
  634.     <collision>
  635.       <geometry>
  636.         <box size="0.04 0.05 0.09"/>
  637.       </geometry>
  638.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  639.         <origin rpy="0 0 0" xyz="0 0 -0.045"/>
  640.     </collision>
  641.  
  642.     <inertial>
  643.       <mass value="0.5"/>
  644.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  645.         <origin/>
  646.     </inertial>
  647.  
  648.   </link>
  649.  
  650.   <joint name="left_wrist_to_hand" type="revolute">
  651.     <parent link="left_wrist_link"/>
  652.     <child link="left_hand_link"/>
  653.         <origin xyz="0 0 -0.055" rpy="0 0 0" />
  654.         <axis xyz="0 1 0" />
  655. <limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
  656. </joint>
  657.  
  658.  
  659.   <link name="right_hand_link">
  660.     <visual>
  661.       <geometry>
  662.         <box size="0.04 0.05 0.09"/>
  663.       </geometry>
  664.           <material name="orange"/>
  665.         <origin rpy="0 0 0" xyz="0 0 -0.045"/>
  666.     </visual>
  667.  
  668.     <collision>
  669.       <geometry>
  670.         <box size="0.04 0.05 0.09"/>
  671.       </geometry>
  672.         <contact_coefficients mu="0" kp="1000.0" kd="1.0"/>
  673.         <origin rpy="0 0 0" xyz="0 0 -0.045"/>    
  674.         </collision>
  675.  
  676.     <inertial>
  677.       <mass value="0.5"/>
  678.       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
  679.         <origin/>
  680.     </inertial>
  681.  
  682.   </link>
  683.  
  684.   <joint name="right_wrist_to_hand" type="revolute">
  685.     <parent link="right_wrist_link"/>
  686.     <child link="right_hand_link"/>
  687.         <origin xyz="0 0 -0.055" rpy="0 0 0" />
  688.         <axis xyz="0 -1 0" />
  689. <limit effort="1000.0" lower="-0.785" upper="0.785" velocity="0.5"/>
  690. </joint>
  691.  
  692. </robot>
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