<?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="a2_t2d0_ultra">
  <link name="base_link">
    <inertial>
      <origin xyz="-0.07088950 -0.00016512 0.16138088" rpy="0 0 0" />
      <mass value="18.89945962" />
      <inertia ixx="0.59376016" iyy="0.55503329" izz="0.18455985" ixy="0.00015891" ixz="0.00353796" iyz="-0.00043902"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>  
        <mesh filename="package://a2_description/meshes/visual/body.stl"/>
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/body_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <!-- left leg -->
  <link name="left_hip_roll">
    <inertial>
      <origin xyz="0.00011252 0.02130615 -0.07465143" rpy="0 0 0" />
      <mass value="2.39059365" />
      <inertia ixx="0.00381223" iyy="0.00368166" izz="0.00334373" ixy="-0.00000253" ixz="0.00000433" iyz="0.00019809"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_hip_roll.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_hip_roll_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx01_left_hip_roll" type="revolute">
    <origin xyz="-0.0808 0.105 -0.0652" rpy="0.7854 0 1.5707963" />
    <parent link="base_link" />
    <child link="left_hip_roll" />
    <axis xyz="0 0 1" />
    <limit lower="-0.698" upper="0.698" effort="120" velocity="12" />
  </joint>

  <link name="left_hip_yaw">
    <inertial>
      <origin xyz="-0.00012288 0.01576460 0.10828703" rpy="0 0 0" />
      <mass value="3.79911511" />
      <inertia ixx="0.00941292" iyy="0.01442888" izz="0.00698406" ixy="0.00000766" ixz="0.00000238" iyz="-0.00055185"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_hip_yaw.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_hip_yaw_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx02_left_hip_yaw" type="revolute">
    <origin xyz="0 -0.017 -0.0682" rpy="1.5707963 -1.5707963 0" />
    <parent link="left_hip_roll" />
    <child link="left_hip_yaw" />
    <axis xyz="0 0 1" />
    <limit lower="-1.57" upper="1.57" effort="120" velocity="12" />
  </joint>

  <link name="left_hip_pitch">
    <inertial>
      <origin xyz="-0.06943423 0.00469099 0.02228242" rpy="0 0 0" />
      <mass value="5.92461880" />
      <inertia ixx="0.01406779" iyy="0.08875802" izz="0.09356940" ixy="0.00370132" ixz="-0.00808512" iyz="0.00067639"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_hip_pitch.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_hip_pitch_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx03_left_hip_pitch" type="revolute">
    <origin xyz="0 -0.020 0.1205" rpy="1.5707963 0.7854 0" />
    <parent link="left_hip_yaw" />
    <child link="left_hip_pitch" />
    <axis xyz="0 0 1" />
    <limit lower="-1.919862144" upper="0.78539815" effort="140" velocity="12" />
  </joint>

  <link name="left_tarsus">
    <inertial>
      <origin xyz="-0.17711952 0.00417209 0.00013325" rpy="0 0 0" />
      <mass value="3.02166726" />
      <inertia ixx="0.00286094" iyy="0.02537518" izz="0.02674320" ixy="-0.00112212" ixz="0.00004708" iyz="0.00001928"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_tarsus.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_tarsus_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx04_left_tarsus" type="revolute">
    <origin xyz="-0.34 0 0" rpy="0 0 0" />
    <parent link="left_hip_pitch" />
    <child link="left_tarsus" />
    <axis xyz="0 0 1" />
    <limit lower="-0.087266461" upper="2.443460911" effort="140" velocity="12" />
  </joint>

  <link name="left_toe_pitch">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="0.08772028" />
      <inertia ixx="0.00001572" iyy="0.00001128" izz="0.00001148" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_toe_pitch.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_toe_pitch_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx05_left_toe_pitch" type="revolute">
    <origin xyz="-0.377 0 0" rpy="0 0 0" />
    <parent link="left_tarsus" />
    <child link="left_toe_pitch" />
    <axis xyz="0 0 1" />
    <limit lower="-1.047197533" upper="0.523598767" effort="50" velocity="12" />
  </joint>

  <link name="left_toe_roll">
    <inertial>
      <origin xyz="-0.03898340 0.00002335 0.03167314" rpy="0 0 0" />
      <mass value="1.21058213" />
      <inertia ixx="0.00701152" iyy="0.00653210" izz="0.00112114" ixy="0.00000021" ixz="0.00015476" iyz="-0.00000270"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_toe_roll.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_toe_roll_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx06_left_toe_roll" type="revolute">
    <origin xyz="0 0 0" rpy="-1.5707963 0 0" />
    <parent link="left_toe_pitch" />
    <child link="left_toe_roll" />
    <axis xyz="0 0 1" />
    <limit lower="-0.488692182" upper="0.488692182" effort="50" velocity="12" />
  </joint>

  <link name="left_toe_A">
    <inertial>
      <origin xyz="0.0161339967539726 0.000256129454551002 0.00157429551114607" rpy="0 0 0" />
      <mass value="0.0959876868449394" />
      <inertia ixx="1.47306660350068E-05" ixy="7.10372384628399E-07" ixz="1.01514226468701E-05" iyy="5.94672539950203E-05" iyz="1.61153684004436E-07" izz="6.68731361080011E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_toe_A.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_toe_A_hull.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </collision>
  </link>
  <joint name="idx05_01_left_toe_motorA" type="fixed">
    <origin xyz="-0.138 0 -0.0315" rpy="0 0 -1.5707963" />
    <parent link="left_tarsus" />
    <child link="left_toe_A" />
    <axis xyz="0 0 1" />
    <limit lower="-1.5707963" upper="1.5707963" effort="0" velocity="0" />
  </joint>


  <link name="left_toe_A_rod">
    <inertial>
      <origin xyz="-0.11950903764711 -4.54312300279813E-09 2.0722082788957E-05" rpy="0 0 0" />
      <mass value="0.133194826485547" />
      <inertia ixx="4.13825335822083E-06" ixy="6.85930711305851E-12" ixz="2.45335802357092E-09" iyy="0.000625059882342822" iyz="2.33641130593936E-12" izz="0.000627531716420437" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_toe_A_rod.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_toe_A_rod_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx05_01_left_toe_motorA_ball" type="fixed">
    <origin xyz="0.063 0 0" rpy="-3.1415926535 0 1.5707963" />
    <parent link="left_toe_A" />
    <child link="left_toe_A_rod" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="left_toe_B">
    <inertial>
      <origin xyz="0.0161339965985728 0.000256125750057401 -0.00157429547986562" rpy="0 0 0" />
      <mass value="0.0959876865489089" />
      <inertia ixx="1.47306660936761E-05" ixy="7.10374422550964E-07" ixz="-1.0151422567557E-05" iyy="5.94672535179347E-05" iyz="-1.61154476946449E-07" izz="6.68731357299622E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_toe_B.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_toe_B_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx06_01_left_toe_motorB" type="fixed">
    <origin xyz="-0.232 0 0.0315" rpy="0 0 -1.5707963" />
    <parent link="left_tarsus" />
    <child link="left_toe_B" />
    <axis xyz="0 0 1" />
    <limit lower="-1.5707963" upper="1.5707963" effort="0" velocity="0" />
  </joint>

  <link name="left_toe_B_rod">
    <inertial>
      <origin xyz="-0.0725000006179941 2.39833153337088E-11 2.75483156604583E-05" rpy="0 0 0" />
      <mass value="0.0989853087337602" />
      <inertia ixx="3.41390504492216E-06" ixy="-7.00234342247419E-12" ixz="-1.67152635087163E-13" iyy="0.000168898913472365" iyz="-6.91334604265453E-15" izz="0.000171065639810982" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_toe_B_rod.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_toe_B_rod_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="idx06_01_left_toe_motorB_ball" type="fixed">
    <origin xyz="0.063 0 0" rpy="-3.14159265358666 0 1.57074160362305" />
    <parent link="left_toe_B" />
    <child link="left_toe_B_rod" />
    <axis xyz="0 0 0" />
  </joint>

  <!-- right leg -->
  <link name="right_hip_roll">
    <inertial>
      <origin xyz="-0.00011252 0.02130615 -0.07465143" rpy="0 0 0" />
      <mass value="2.39059365" />
      <inertia ixx="0.00381223" iyy="0.00368166" izz="0.00334373" ixy="0.00000253" ixz="-0.00000433" iyz="0.00019809"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_hip_roll.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_hip_roll_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx07_right_hip_roll" type="revolute">
    <origin xyz="-0.0808 -0.105 -0.0652" rpy="0.7854 0 1.5707963" />
    <parent link="base_link" />
    <child link="right_hip_roll" />
    <axis xyz="0 0 1" />
    <limit lower="-0.698" upper="0.698" effort="120" velocity="12" />
  </joint>

  <link name="right_hip_yaw">
    <inertial>
      <origin xyz="-0.00012288 -0.01576460 0.10828703" rpy="0 0 0" />
      <mass value="3.79911511" />
      <inertia ixx="0.00941292" iyy="0.01442888" izz="0.00698406" ixy="-0.00000766" ixz="0.00000238" iyz="0.00055185"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_hip_yaw.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_hip_yaw_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx08_right_hip_yaw" type="revolute">
    <origin xyz="0 -0.017 -0.0682" rpy="1.5707963 -1.5707963 0" />
    <parent link="right_hip_roll" />
    <child link="right_hip_yaw" />
    <axis xyz="0 0 1" />
    <limit lower="-1.57" upper="1.57" effort="120" velocity="12" />
  </joint>

  <link name="right_hip_pitch">
    <inertial>
      <origin xyz="-0.06943423 0.00469099 -0.02228242" rpy="0 0 0" />
      <mass value="5.92461880" />
      <inertia ixx="0.01406779" iyy="0.08875802" izz="0.09356940" ixy="0.00370132" ixz="0.00808512" iyz="-0.00067639"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_hip_pitch.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_hip_pitch_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx09_right_hip_pitch" type="revolute">
    <origin xyz="0 0.020 0.1205" rpy="1.5708 0.7854 0" />
    <parent link="right_hip_yaw" />
    <child link="right_hip_pitch" />
    <axis xyz="0 0 1" />
    <limit lower="-1.919862144" upper="0.78539815" effort="140" velocity="12" />
  </joint>

  <link name="right_tarsus">
    <inertial>
      <origin xyz="-0.17711952 0.00417209 -0.00013325" rpy="0 0 0" />
      <mass value="3.02166726" />
      <inertia ixx="0.00286094" iyy="0.02537518" izz="0.02674320" ixy="-0.00112212" ixz="-0.00004708" iyz="-0.00001928"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_tarsus.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_tarsus_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx10_right_tarsus" type="revolute">
    <origin xyz="-0.34 0 0" rpy="0 0 0" />
    <parent link="right_hip_pitch" />
    <child link="right_tarsus" />
    <axis xyz="0 0 1" />
    <limit lower="-0.087266461" upper="2.443460911" effort="140" velocity="12" />
  </joint>

  <link name="right_toe_pitch">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="0.08772028" />
      <inertia ixx="0.00001572" iyy="0.00001128" izz="0.00001148" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_toe_pitch.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_toe_pitch_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx11_right_toe_pitch" type="revolute">
    <origin xyz="-0.377 0 0" rpy="0 0 0" />
    <parent link="right_tarsus" />
    <child link="right_toe_pitch" />
    <axis xyz="0 0 1" />
    <limit lower="-1.047197533" upper="0.523598767" effort="50" velocity="12" />
  </joint>

  <link name="right_toe_roll">
    <inertial>
      <origin xyz="-0.03898340 -0.00002335 0.03167314" rpy="0 0 0" />
      <mass value="1.21058213" />
      <inertia ixx="0.00701152" iyy="0.00653210" izz="0.00112114" ixy="-0.00000021" ixz="0.00015476" iyz="0.00000270"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_toe_roll.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_toe_roll_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx12_right_toe_roll" type="revolute">
    <origin xyz="0 0 0" rpy="-1.5707963 0 0" />
    <parent link="right_toe_pitch" />
    <child link="right_toe_roll" />
    <axis xyz="0 0 1" />
    <limit lower="-0.488692182" upper="0.488692182" effort="50" velocity="12" />
  </joint>
  
  <link name="right_toe_A">
    <inertial>
      <origin xyz="0.0161564618609389 0.00025642819293159 -0.001574295479989" rpy="0 0 0" />
      <mass value="0.0959876865493352" />
      <inertia ixx="1.47306517352712E-05" ixy="7.09922163047177E-07" ixz="-1.01514241960403E-05" iyy="5.94672678768343E-05" iyz="-1.61051852281769E-07" izz="6.68731357306057E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_toe_A.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_toe_A_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx11_01_right_toe_motorA" type="fixed">
    <origin xyz="-0.138 0 0.0315" rpy="0 0 -1.5707963" />
    <parent link="right_tarsus" />
    <child link="right_toe_A" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
  </joint>

  <link name="right_toe_A_rod">
    <inertial>
      <origin xyz="-0.119506775010566 2.76775022988937E-05 2.07236899269908E-05" rpy="0 0 0" />
      <mass value="0.133194826485545" />
      <inertia ixx="4.13825457277786E-06" ixy="2.68995206710072E-08" ixz="2.45335787860636E-09" iyy="0.00062505988112825" iyz="2.44266827827242E-12" izz="0.000627531716420421" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_toe_A_rod.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_toe_A_rod_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx11_01_right_toe_motorA_ball " type="fixed">
    <origin xyz="0.063 0 0" rpy="3.1415926535 0 1.5707963" />
    <parent link="right_toe_A" />
    <child link="right_toe_A_rod" />
    <axis xyz="0 0 0" />
  </joint>

  <link name="right_toe_B">
    <inertial>
      <origin xyz="0.0161605408863716 0.000255895525077321 0.00157429551102603" rpy="0 0 0" />
      <mass value="0.0959876868444429" />
      <inertia ixx="1.47306045969354E-05" ixy="7.08435168511415E-07" ixz="1.01514296159037E-05" iyy="5.94673154325773E-05" iyz="1.60714100188362E-07" izz="6.68731361073396E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_toe_B.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_toe_B_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx12_01_right_toe_motorB" type="fixed">
    <origin xyz="-0.232 0 -0.0315" rpy="0 0 -1.5707963" />
    <parent link="right_tarsus" />
    <child link="right_toe_B" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
  </joint>
  <link name="right_toe_B_rod">
    <inertial>
      <origin xyz="-0.0724977388604912 2.97174338039705E-05 2.75478483252878E-05" rpy="0 0 0" />
      <mass value="0.0989853087337611" />
      <inertia ixx="3.41390533484477E-06" ixy="7.16306173866274E-09" ixz="-1.67153379781756E-13" iyy="0.000168898913182443" iyz="-6.92078088288279E-15" izz="0.000171065639810983" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_toe_B_rod.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_toe_B_rod_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx12_01_right_toe_motorB_ball" type="fixed">
    <origin xyz="0.063 0 0" rpy="3.1415926535 0 1.5707963" />
    <parent link="right_toe_B" />
    <child link="right_toe_B_rod" />
    <axis xyz="0 0 0" />
  </joint>

  <!-- left arm -->
  <link name="left_arm_link_base"/>
  <joint name="left_arm_base_joint" type="fixed">
    <origin rpy="1.5707963  0 0" xyz="-0.03779 0 0.3421"/>
    <parent link="base_link"/>
    <child link="left_arm_link_base"/>
  </joint>

  <link name="left_arm_link01">
    <inertial>
      <origin xyz="-0.002330 0.008782 0.032870" rpy="0 0 0" />
      <mass value="0.276944" />
      <inertia ixx="0.000595" iyy="0.000381" izz="0.000542" ixy="-0.000006" ixz="-0.000002" iyz="0.000053"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link01.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link01_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx13_left_arm_joint1" type="revolute">
    <origin xyz="-0.0 0.0 -0.191 " rpy="0 0 -1.5707963" />
    <parent link="left_arm_link_base" />
    <child link="left_arm_link01" />
    <axis xyz="0 0 1" />
    <limit lower="-2.967" upper="2.967" effort="100" velocity="12" />
  </joint>


  <link name="left_arm_link02">
    <inertial>
      <origin xyz="-0.000451 -0.051682 -0.001084" rpy="0 0 0" />
      <mass value="2.852114" />
      <inertia ixx="0.011984" iyy="0.002880" izz="0.011709" ixy="0.000039" ixz="0.000003" iyz="0.000140"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link02.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link02_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx14_left_arm_joint2" type="revolute">
    <origin xyz="0 0 -0.0" rpy="1.5707963 0 0"/>
    <parent link="left_arm_link01" />
    <child link="left_arm_link02" />
    <axis xyz="0 0 1" />
    <limit lower="-0.523598767" upper="1.658062761" effort="100" velocity="12" />
  </joint>

  <link name="left_arm_link03">
    <inertial>
      <origin xyz="-0.000673 0.001065 0.079222" rpy="0 0 0" />
      <mass value="1.310295" />
      <inertia ixx="0.002030" iyy="0.002186" izz="0.001189" ixy="-0.000008" ixz="0.000005" iyz="0.000018"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link03.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link03_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx15_left_arm_joint3" type="revolute">
    <origin  rpy="1.5707963 0 0" xyz="0 -0.154 0" />
    <parent link="left_arm_link02" />
    <child link="left_arm_link03" />
    <axis xyz="0 0 1" />
    <limit lower="-2.967" upper="2.967" effort="100" velocity="12" />
  </joint>


  <link name="left_arm_link04">
    <inertial>
      <origin xyz="0.000273 -0.066853 -0.007408" rpy="0 0 0" />
      <mass value="0.677343" />
     <inertia ixx="0.000893" iyy="0.000508" izz="0.000767" ixy="-0.000001" ixz="-0.000002" iyz="0.000238"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link04.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link04_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx16_left_arm_joint4" type="revolute">
    <origin xyz="0 0 0.093" rpy="-1.5707963  0  1.5707963" />
    <parent link="left_arm_link03" />
    <child link="left_arm_link04" />
    <axis xyz="0 0 1" />
    <limit lower="-2.094395067" upper="0" effort="100" velocity="12" />
  </joint>

  <link name = "left_arm_link05">
    <inertial>
      <origin xyz="-0.001962 -0.000002 0.071786" rpy="0 0 0" />
      <mass value="0.260886" />
      <inertia ixx="0.000638" iyy="0.000618" izz="0.000229" ixy="0.000000" ixz="0.000015" iyz="0.000000"/>
    </inertial>
    <visual name = "">
      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link05.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link05_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name = "idx17_left_arm_joint5" type = "revolute">
    <origin xyz = "0  -0.103 0.0" rpy = "1.5707963 0 0"  />
    <parent link = "left_arm_link04" />
    <child link = "left_arm_link05" />
    <axis xyz = "0 0 1" />
    <limit lower = "-2.87979" upper = "2.87979" velocity="12" effort="100"/>
  </joint>


  <link name = "left_arm_link06">
    <inertial>
      <origin xyz="0.00018011 -0.00021701 0.00000000" rpy="0 0 0" />
      <mass value="0.02504627" />
      <inertia ixx="0.00000197" iyy="0.00000173" izz="0.00000071" ixy="0.00000000" ixz="0.00000000" iyz="0.00000000"/>
    </inertial>
    <visual name = "">
      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link06.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link06_hull.stl"/>
      </geometry>
    </collision>
  </link>
   <joint name = "idx18_left_arm_joint6" type = "revolute">
    <origin xyz="-0.01 0 0.1595" rpy="-1.5707963 1.5707963 0" />
    <parent link = "left_arm_link05" />
    <child link = "left_arm_link06" />
    <axis xyz = "0 0 1" />
    <limit lower = "-0.785398" upper = "0.785398" velocity="12" effort="100" />
  </joint>

  <link name = "left_arm_link07">
    <inertial>
      <origin xyz="-0.01211757 -0.00009712 0.00886324" rpy="0 0 0" />
      <mass value="0.05050219" />
      <inertia ixx="0.00000828" iyy="0.00001140" izz="0.00001294" ixy="0.00000006" ixz="-0.00000179" iyz="0.00000004"/>
    </inertial>
    <visual name = "">
      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_arm_link07.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_arm_link07_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name = "idx19_left_arm_joint7" type = "revolute">
    <origin xyz="0 0 0" rpy="1.5707963 0 0" />
    <parent link = "left_arm_link06" />
    <child link = "left_arm_link07" />
    <axis xyz = "0 0 1" />
    <limit lower="-0.5236" upper="0.5236" effort="100" velocity="12" />
  </joint>

  <joint name = "left_arm_joint07_fixed" type = "fixed">
    <origin rpy = "1.5707963 0 -1.5707963" xyz = "0 0 0" />
    <parent link = "left_arm_link07" />
    <child link = "left_hand" />
  </joint>
  <link name="left_hand">
    <inertial>
      <origin xyz="-0.00174346841701916 0.00527579194314928 0.0630645733021228" rpy="0 0 0" />
      <mass value="0.153951635222705" />
      <inertia ixx="8.73156029524248e-05" ixy="2.76454788715318e-07" ixz="-6.56394653650542e-07" iyy="0.00013139692405234" iyz="2.87478350015867e-06" izz="6.85856479957296e-05" />
    </inertial>
    <visual> 
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_paw.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
  </link>
  <link name="L_thumb_swing">
    <inertial>
      <origin xyz="-0.00794385183139725 -0.000525120612119151 0.00647353069427367" rpy="0 0 0" />
      <mass value="0.00344766519929713" />
      <inertia ixx="9.46681111469513e-08" ixy="-2.82870154716105e-09" ixz="6.48803833821274e-10" iyy="1.37273777260403e-07" iyz="4.31486298309418e-11" izz="9.49138662594884e-08" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_swing.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_swing_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_thumb_swing_joint" type="revolute">
    <origin xyz="-0.029178 -0.01525 0.0384" rpy="0 0 0" />
    <parent link="left_hand"/>
    <child link="L_thumb_swing" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="2.286" effort="10" velocity="6" />
  </joint>
  <link name="L_thumb_1">
    <inertial>
      <origin xyz="0.0259002099345081 0.0127439796878742 1.99493196570838e-05" rpy="0 0 0" />
      <mass value="0.0221480762523199" />
      <inertia ixx="3.31629342056679e-06" ixy="-8.26036894806839e-07" ixz="5.55467469886505e-10" iyy="3.39227446692523e-06" iyz="2.74467395508138e-09" izz="5.78826252617142e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_1.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_1_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_thumb_1_joint" type="revolute">
    <origin xyz="-0.013367 0.00088357 -0.0052468" rpy="1.5708 0 3.0756" />
    <parent link="L_thumb_swing" />
    <child link="L_thumb_1" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.78" effort="10" velocity="6" />
  </joint>
  <link name="L_thumb_2">
    <inertial>
      <origin xyz="0.0112938280283933 0.00190048762153883 0.00768932284017045" rpy="0 0 0" />
      <mass value="0.00380031199387229" />
      <inertia ixx="4.33768382054372e-07" ixy="-3.01457326686904e-08" ixz="2.51640808750991e-11" iyy="3.41487853815651e-07" iyz="8.87078510861614e-11" izz="4.77629558482899e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_2.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_2_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_thumb_2_joint" type="revolute">
    <origin xyz="0.0389415822724812 0.0379042246431505 -0.00770000000000043" rpy="0 0 0" />
    <parent link="L_thumb_1" />
    <child link="L_thumb_2" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.9144" effort="10" velocity="6" />
    <mimic joint="L_thumb_1_joint" multiplier="0.40" offset="0" />
  </joint>
  <link name="L_thumb_3">
    <inertial>
      <origin xyz="0.00856534554797862 0.00586022128255342 0.00530182283153385" rpy="0 0 0" />
      <mass value="0.0067706894584641" />
      <inertia ixx="4.15501197420746e-07" ixy="-1.25284733421831e-07" ixz="-1.14020106815917e-10" iyy="2.49677035533967e-07" iyz="-1.89120892374144e-10" izz="4.96219470794644e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_3.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_3_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_thumb_3_joint" type="revolute">
    <origin xyz="0.01728 0.014743 0.0024" rpy="0 0 0" />
    <parent link="L_thumb_2" />
    <child link="L_thumb_3" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.3716" effort="10" velocity="6" />
    <mimic joint="L_thumb_1_joint" multiplier="0.60" offset="0" />
  </joint>
  <link name="L_index_1">
    <inertial>
      <origin xyz="-0.00224105284932037 0.012077244969504 -0.0060501936211354" rpy="0 0 0" />
      <mass value="0.00439457695368253" />
      <inertia ixx="6.7083586478962e-07" ixy="6.24488990875019e-09" ixz="-3.08577901734797e-12" iyy="2.67077182124417e-07" iyz="6.36376851728619e-12" izz="6.64566137309628e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_index_1.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_index_1_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_index_1_joint" type="revolute">
    <origin xyz="-0.034645 0.0059953 0.11967" rpy="1.6319 0 -1.5708" />
    <parent link="left_hand"/>
    <child link="L_index_1" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="L_index_2">
    <inertial>
      <origin xyz="-0.00267181156648408 0.0187445889538955 -0.00504998556104182" rpy="0 0 0" />
      <mass value="0.00571203807044643" />
      <inertia ixx="8.55148442316881e-07" ixy="-8.71729684204069e-08" ixz="8.24415168858219e-14" iyy="1.37439550017429e-07" iyz="-2.39445035228549e-12" izz="8.7133999943214e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_index_2.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_index_2_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_index_2_joint" type="revolute">
    <origin xyz="-0.00025731 0.032131 -0.001" rpy="0 0 0" />
    <parent link="L_index_1" />
    <child link="L_index_2" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="L_index_1_joint" multiplier="1" offset="0" />
  </joint>
  <link name="L_middle_1">
    <inertial>
      <origin xyz="-0.00224109922728143 0.0120773004987843 -0.00605026659163534" rpy="0 0 0" />
      <mass value="0.00439459313596441" />
      <inertia ixx="6.70837166910088e-07" ixy="-6.24455169745287e-09" ixz="3.25321014718543e-12" iyy="2.67075608382375e-07" iyz="7.72285454063169e-12" izz="6.64566599226699e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_middle_1.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_middle_1_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_middle_1_joint" type="revolute">
    <origin xyz="-0.014728 0.0059953 0.1205" rpy="1.5708 0 -1.5708" />
    <parent link="left_hand"/>
    <child link="L_middle_1" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="L_middle_2">
    <inertial>
      <origin xyz="-0.00298222684069903 0.0208035344929268 -0.00505001299185808" rpy="0 0 0" />
      <mass value="0.00621146132075292" />
      <inertia ixx="1.14490560231061e-06" ixy="-9.72401476943198e-08" ixz="-1.3517205790896e-13" iyy="1.43751808502962e-07" iyz="-2.47497784308553e-12" izz="1.15530613342501e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_middle_2.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_middle_2_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_middle_2_joint" type="revolute">
    <origin xyz="-0.000257313524408706 0.0321313914917268 -0.000999999999997433" rpy="0 0 0" />
    <parent link="L_middle_1" />
    <child link="L_middle_2" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="L_middle_1_joint" multiplier="1" offset="0" />
  </joint>
  <link name="L_ring_1">
    <inertial>
      <origin xyz="-0.00224111083051005 0.0120773228749342 -0.00605025463459374" rpy="0 0 0" />
      <mass value="0.00439459971330683" />
      <inertia ixx="6.70838404636804e-07" ixy="6.24505446614477e-09" ixz="-3.11377919594888e-12" iyy="2.67075452784363e-07" iyz="6.97432649840291e-12" izz="6.64567590491197e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_ring_1.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_ring_1_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_ring_1_joint" type="revolute">
    <origin xyz="0.0060088 0.0059953 0.12031" rpy="1.5184 0 -1.5708" />
    <parent link="left_hand"/>
    <child link="L_ring_1" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="L_ring_2">
    <inertial>
      <origin xyz="-0.00298222724294862 0.0208035302665959 -0.00505000729887283" rpy="0 0 0" />
      <mass value="0.0062114646816875" />
      <inertia ixx="1.14490597705472e-06" ixy="-9.724016633507e-08" ixz="-1.8724939827074e-14" iyy="1.43751909738487e-07" iyz="-2.55418863081498e-12" izz="1.15530647485239e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_ring_2.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_ring_2_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_ring_2_joint" type="revolute">
    <origin xyz="-0.00025731 0.032131 -0.001" rpy="0 0 0" />
    <parent link="L_ring_1" />
    <child link="L_ring_2" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="L_ring_1_joint" multiplier="1" offset="0" />
  </joint>
  <link name="L_pinky_1">
    <inertial>
      <origin xyz="-0.00224116685703836 0.0120774556144769 -0.00605021177667593" rpy="0 0 0" />
      <mass value="0.00439465496713926" />
      <inertia ixx="6.70846058569314e-07" ixy="6.24765025269437e-09" ixz="-2.14363990209694e-12" iyy="2.67077034128326e-07" iyz="4.49364771164151e-12" izz="6.64575163698131e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_pinky_1.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_pinky_1_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_pinky_1_joint" type="revolute">
    <origin xyz="0.026254 0.0059953 0.11901" rpy="1.4661 0 -1.5708" />
    <parent link="left_hand"/>
    <child link="L_pinky_1" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="L_pinky_2">
    <inertial>
      <origin xyz="-0.00379562052007763 0.0143619415198121 -0.00504990649038004" rpy="0 0 0" />
      <mass value="0.00441618939121693" />
      <inertia ixx="4.4165258349127e-07" ixy="-2.35241296174338e-08" ixz="1.03160129872049e-12" iyy="9.72293330312645e-08" iyz="3.91885258086726e-12" izz="4.50179231370321e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_pinky_2.stl" scale="1 1 1" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_pinky_2_hull.stl" scale="1 1 1" />
      </geometry>
    </collision>
  </link>
  <joint name="L_pinky_2_joint" type="revolute">
    <origin xyz="-0.00025731 0.032131 -0.001" rpy="0 0 0" />
    <parent link="L_pinky_1" />
    <child link="L_pinky_2" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="L_pinky_1_joint" multiplier="1" offset="0" />
  </joint>



  <joint name="left_wrist_motor_A_ball" type="fixed">
    <origin xyz="0.005 0.02245 0.0245" rpy="0 -3.126778944 0" />
    <parent link="left_arm_link05" />
    <child link="left_wrist_motor_A" />
  </joint>
  <link name="left_wrist_motor_A">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_wrist_motor_A.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_wrist_motor_A_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="left_wrist_rod_A_joint" type="fixed">
    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
    <parent link="left_wrist_motor_A" />
    <child link="left_wrist_rod_A" />
    <axis xyz="0 0 1" />
    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
  </joint>
  <link name="left_wrist_rod_A">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_wrist_rod_A.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_wrist_rod_A_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="left_wrist_motor_B_ball" type="fixed">
    <origin xyz="0.005 -0.02245 0.0245" rpy="0 -3.126778944 0" />
    <parent link="left_arm_link05" />
    <child link="left_wrist_motor_B" />
  </joint>
  <link name="left_wrist_motor_B">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_wrist_motor_B.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_wrist_motor_B_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="left_wrist_rod_B_joint" type="fixed">
    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
    <parent link="left_wrist_motor_B" />
    <child link="left_wrist_rod_B" />
    <axis xyz="0 0 1" />
    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
  </joint>
  <link name="left_wrist_rod_B">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/left_wrist_rod_B.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/left_wrist_rod_B_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <!-- right arm -->
  <link name="right_arm_link_base"/>
  <joint name="right_arm_base_joint" type="fixed">
    <origin rpy="1.5707963  0 0" xyz="-0.03779 0 0.3421"/>
    <parent link="base_link"/>
    <child link="right_arm_link_base"/>
  </joint>

  <link name="right_arm_link01">
    <inertial>
      <origin xyz="-0.002330 0.008782 -0.032870" rpy="0 0 0" />
      <mass value="0.276944" />
      <inertia ixx="0.000595" iyy="0.000381" izz="0.000542" ixy="-0.000006" ixz="0.000002" iyz="-0.000053"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link01.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link01_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx20_right_arm_joint1" type="revolute">
    <origin xyz="-0.0 0.0 0.191 " rpy="0   0  -1.5707963" />
    <parent link="right_arm_link_base" />
    <child link="right_arm_link01" />
    <axis xyz="0 0 1" />
    <limit lower="-2.967" upper="2.967" effort="100" velocity="12" />
  </joint>

  <link name="right_arm_link02">
    <inertial>
      <origin xyz="-0.000451 0.051682 -0.001084" rpy="0 0 0" />
      <mass value="2.852114" />
      <inertia ixx="0.011984" iyy="0.002880" izz="0.011709" ixy="-0.000039" ixz="0.000003" iyz="-0.000140"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link02.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link02_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx21_right_arm_joint2" type="revolute">
    <origin xyz="0 0 0.0" rpy="1.5707963 0 0"/>
    <parent link="right_arm_link01" />
    <child link="right_arm_link02" />
    <axis xyz="0 0 1" />
    <limit lower="-1.658062761" upper="0.523598767" effort="100" velocity="12" />
  </joint>



  <link name="right_arm_link03">
    <inertial>
      <origin xyz="-0.000673 0.001065 -0.079222" rpy="0 0 0" />
      <mass value="1.310295" />
      <inertia ixx="0.002030" iyy="0.002186" izz="0.001189" ixy="-0.000008" ixz="-0.000005" iyz="-0.000018"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link03.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link03_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx22_right_arm_joint3" type="revolute">
    <origin xyz="0 0.154  0" rpy="1.5707963 0 0" />
    <parent link="right_arm_link02" />
    <child link="right_arm_link03" />
    <axis xyz="0 0 1" />
    <limit lower="-2.967" upper="2.967" effort="100" velocity="12" />
  </joint>


  <link name="right_arm_link04">
    <inertial>
      <origin xyz="0.000273 0.066853 -0.007408" rpy="0 0 0" />
      <mass value="0.677343" />
     <inertia ixx="0.000893" iyy="0.000508" izz="0.000767" ixy="0.000001" ixz="-0.000002" iyz="-0.000238"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link04.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link04_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx23_right_arm_joint4" type="revolute">
    <origin xyz="0 0 -0.093" rpy="-1.5707963 0 1.5707963" />
    <parent link="right_arm_link03" />
    <child link="right_arm_link04" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="2.094395067" effort="100" velocity="12" />
  </joint>


 
  <link name = "right_arm_link05">
    <inertial>
      <origin xyz="-0.001962 -0.000002 -0.071786" rpy="0 0 0" />
      <mass value="0.260886" />
      <inertia ixx="0.000638" iyy="0.000618" izz="0.000229" ixy="0.000000" ixz="-0.000015" iyz="-0.000000"/>
    </inertial>
    <visual name = "">
      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link05.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link05_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name = "idx24_right_arm_joint5" type = "revolute">
    <origin xyz = "0  0.103 0.0" rpy = "1.5707963 0 0"  />
    <parent link = "right_arm_link04" />
    <child link = "right_arm_link05" />
    <axis xyz = "0 0 1" />
    <limit lower = "-2.87979" upper = "2.87979" velocity="12" effort="100"/>
  </joint>

  
  <link name = "right_arm_link06">
    <inertial>
      <origin xyz="-0.00018011 -0.00021701 0.00000000" rpy="0 0 0" />
      <mass value="0.02504627" />
      <inertia ixx="0.00000197" iyy="0.00000173" izz="0.00000071" ixy="-0.00000000" ixz="-0.00000000" iyz="0.00000000"/>
    </inertial>
    <visual name = "">
      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link06.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link06_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name = "idx25_right_arm_joint6" type = "revolute">
    <origin xyz="-0.01 0 -0.1595" rpy="-1.5707963 1.5707963 0" />
    <parent link = "right_arm_link05" />
    <child link = "right_arm_link06" />
    <axis xyz = "0 0 1" />
    <limit lower = "-0.785398" upper = "0.785398" velocity="12" effort="100"/>
  </joint>

  
  <link name = "right_arm_link07">
    <inertial>
      <origin xyz="0.01211757 -0.00009712 0.00886324" rpy="0 0 0" />
      <mass value="0.05050219" />
      <inertia ixx="0.00000828" iyy="0.00001140" izz="0.00001294" ixy="-0.00000006" ixz="0.00000179" iyz="0.00000004"/>
    </inertial>
    <visual name = "">
      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_arm_link07.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_arm_link07_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name = "idx26_right_arm_joint7" type = "revolute">
    <origin xyz="0 0 0" rpy="1.5707963 0 0" />
    <parent link="right_arm_link06" />
    <child link="right_arm_link07" />
    <axis xyz="0 0 1" />
    <limit lower="-0.5236" upper="0.5236" effort="100" velocity="12" />
  </joint>

  <joint name = "right_arm_joint07_fixed" type = "fixed">
    <origin rpy = "-1.5707963 0 -1.5707963" xyz = "0 0 0" />
    <parent link = "right_arm_link07" />
    <child link = "right_hand" />
  </joint>
  <link name="right_hand">
    <inertial>
      <origin xyz="-0.00174346841701916 -0.00527579194314928 0.0630645733021228" rpy="0 0 0" />
      <mass value="0.153951635222705" />
      <inertia ixx="8.73156029524248e-05" ixy="-2.76454788715318e-07" ixz="-6.56394653650542e-07" iyy="0.00013139692405234" iyz="-2.87478350015867e-06" izz="6.85856479957296e-05" />
    </inertial>
    <visual> 
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_paw.stl" />
      </geometry>
      <material name="metallic silver">
        <color rgba="0.878431373 0.878431373 0.901960784 1" />
      </material>
    </visual>
  </link>
  <link name="R_thumb_swing">
    <inertial>
      <origin xyz="-0.00794385183139725 0.000525120612119151 0.00647353069427367" rpy="0 0 0" />
      <mass value="0.00344766519929713" />
      <inertia ixx="9.46681111469513e-08" ixy="2.82870154716105e-09" ixz="6.48803833821274e-10" iyy="1.37273777260403e-07" iyz="-4.31486298309418e-11" izz="9.49138662594884e-08" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_swing.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_swing_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_thumb_swing_joint" type="revolute">
    <origin xyz="-0.029178 0.01525 0.0384" rpy="0 0 0" />
    <parent link="right_hand"/>
    <child link="R_thumb_swing" />
    <axis xyz="0 0 -1" />
    <limit lower="0" upper="2.286" effort="10" velocity="6" />
  </joint>
  <link name="R_thumb_1">
    <inertial>
      <origin xyz="0.0259002099345081 0.0127439796878742 -1.99493196570838e-05" rpy="0 0 0" />
      <mass value="0.0221480762523199" />
      <inertia ixx="3.31629342056679e-06" ixy="-8.26036894806839e-07" ixz="-5.55467469886505e-10" iyy="3.39227446692523e-06" iyz="-2.74467395508138e-09" izz="5.78826252617142e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_1.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_1_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_thumb_1_joint" type="revolute">
    <origin xyz="-0.013367 0.00088357 0.0052468" rpy="1.5708 0 3.0756" />
    <parent link="R_thumb_swing" />
    <child link="R_thumb_1" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0.78" effort="10" velocity="6" />
  </joint>
  <link name="R_thumb_2">
    <inertial>
      <origin xyz="0.0112938280283933 0.00190048762153883 -0.00768932284017045" rpy="0 0 0" />
      <mass value="0.00380031199387229" />
      <inertia ixx="4.33768382054372e-07" ixy="-3.01457326686904e-08" ixz="-2.51640808750991e-11" iyy="3.41487853815651e-07" iyz="-8.87078510861614e-11" izz="4.77629558482899e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_2.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_2_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_thumb_2_joint" type="revolute">
    <origin xyz="0.0389415822724812 0.0379042246431505 0.00770000000000043" rpy="0 0 0" />
    <parent link="R_thumb_1" />
    <child link="R_thumb_2" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="3.14" effort="10" velocity="6" />
    <mimic joint="R_thumb_1_joint" multiplier="0.40" offset="0" />
  </joint>
  <link name="R_thumb_3">
    <inertial>
      <origin xyz="0.00856534554797862 0.00586022128255342 -0.00530182283153385" rpy="0 0 0" />
      <mass value="0.0067706894584641" />
      <inertia ixx="4.15501197420746e-07" ixy="-1.25284733421831e-07" ixz="1.14020106815917e-10" iyy="2.49677035533967e-07" iyz="1.89120892374144e-10" izz="4.96219470794644e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_thumb_3.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_thumb_3_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_thumb_3_joint" type="revolute">
    <origin xyz="0.01728 0.014743 -0.0024" rpy="0 0 0" />
    <parent link="R_thumb_2" />
    <child link="R_thumb_3" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="3.14" effort="10" velocity="6" />
    <mimic joint="R_thumb_1_joint" multiplier="0.60" offset="0" />
  </joint>
  <link name="R_index_1">
    <inertial>
      <origin xyz="0.00224105284932037 0.012077244969504 -0.0060501936211354" rpy="0 0 0" />
      <mass value="0.00439457695368253" />
      <inertia ixx="6.7083586478962e-07" ixy="-6.24488990875019e-09" ixz="3.08577901734797e-12" iyy="2.67077182124417e-07" iyz="6.36376851728619e-12" izz="6.64566137309628e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_index_1.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_index_1_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_index_1_joint" type="revolute">
    <origin xyz="-0.034645 -0.0059953 0.11967" rpy="1.6319 0 -1.5708" />
    <parent link="right_hand"/>
    <child link="R_index_1" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="R_index_2">
    <inertial>
      <origin xyz="0.00267181156648408 0.0187445889538955 -0.00504998556104182" rpy="0 0 0" />
      <mass value="0.00571203807044643" />
      <inertia ixx="8.55148442316881e-07" ixy="8.71729684204069e-08" ixz="-8.24415168858219e-14" iyy="1.37439550017429e-07" iyz="-2.39445035228549e-12" izz="8.7133999943214e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_index_2.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_index_2_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_index_2_joint" type="revolute">
    <origin xyz="-0.00025731 0.032131 -0.001" rpy="0 0 0" />
    <parent link="R_index_1" />
    <child link="R_index_2" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="R_index_1_joint" multiplier="1" offset="0" />
  </joint>
  <link name="R_middle_1">
    <inertial>
      <origin xyz="0.00224109922728143 0.0120773004987843 -0.00605026659163534" rpy="0 0 0" />
      <mass value="0.00439459313596441" />
      <inertia ixx="6.70837166910088e-07" ixy="-6.24455169745287e-09" ixz="3.25321014718543e-12" iyy="2.67075608382375e-07" iyz="7.72285454063169e-12" izz="6.64566599226699e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_middle_1.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_middle_1_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_middle_1_joint" type="revolute">
    <origin xyz="-0.014728 -0.0059953 0.1205" rpy="1.5708 0 -1.5708" />
    <parent link="right_hand"/>
    <child link="R_middle_1" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="R_middle_2">
    <inertial>
      <origin xyz="0.00298222684069903 0.0208035344929268 -0.00505001299185808" rpy="0 0 0" />
      <mass value="0.00621146132075292" />
      <inertia ixx="1.14490560231061e-06" ixy="9.72401476943198e-08" ixz="1.3517205790896e-13" iyy="1.43751808502962e-07" iyz="-2.47497784308553e-12" izz="1.15530613342501e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_middle_2.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_middle_2_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_middle_2_joint" type="revolute">
    <origin xyz="-0.000257313524408706 0.0321313914917268 -0.000999999999997433" rpy="0 0 0" />
    <parent link="R_middle_1" />
    <child link="R_middle_2" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="R_middle_1_joint" multiplier="1" offset="0" />
  </joint>
  <link name="R_ring_1">
    <inertial>
      <origin xyz="0.00224111083051005 0.0120773228749342 -0.00605025463459374" rpy="0 0 0" />
      <mass value="0.00439459971330683" />
      <inertia ixx="6.70838404636804e-07" ixy="-6.24505446614477e-09" ixz="3.11377919594888e-12" iyy="2.67075452784363e-07" iyz="6.97432649840291e-12" izz="6.64567590491197e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_ring_1.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_ring_1_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_ring_1_joint" type="revolute">
    <origin xyz="0.0060088 -0.0059953 0.12031" rpy="1.5184 0 -1.5708" />
    <parent link="right_hand"/>
    <child link="R_ring_1" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="R_ring_2">
    <inertial>
      <origin xyz="0.00298222724294862 0.0208035302665959 -0.00505000729887283" rpy="0 0 0" />
      <mass value="0.0062114646816875" />
      <inertia ixx="1.14490597705472e-06" ixy="9.724016633507e-08" ixz="1.8724939827074e-14" iyy="1.43751909738487e-07" iyz="-2.55418863081498e-12" izz="1.15530647485239e-06" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_ring_2.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_ring_2_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_ring_2_joint" type="revolute">
    <origin xyz="-0.00025731 0.032131 -0.001" rpy="0 0 0" />
    <parent link="R_ring_1" />
    <child link="R_ring_2" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="R_ring_1_joint" multiplier="1" offset="0" />
  </joint>
  <link name="R_pinky_1">
    <inertial>
      <origin xyz="0.00224116685703836 0.0120774556144769 -0.00605021177667593" rpy="0 0 0" />
      <mass value="0.00439465496713926" />
      <inertia ixx="6.70846058569314e-07" ixy="-6.24765025269437e-09" ixz="2.14363990209694e-12" iyy="2.67077034128326e-07" iyz="4.49364771164151e-12" izz="6.64575163698131e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_pinky_1.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_pinky_1_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_pinky_1_joint" type="revolute">
    <origin xyz="0.026254 -0.0059953 0.11901" rpy="1.4661 0 -1.5708" />
    <parent link="right_hand"/>
    <child link="R_pinky_1" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
  </joint>
  <link name="R_pinky_2">
    <inertial>
      <origin xyz="0.00379562052007763 0.0143619415198121 -0.00504990649038004" rpy="0 0 0" />
      <mass value="0.00441618939121693" />
      <inertia ixx="4.4165258349127e-07" ixy="2.35241296174338e-08" ixz="-1.03160129872049e-12" iyy="9.72293330312645e-08" iyz="3.91885258086726e-12" izz="4.50179231370321e-07" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/R_pinky_2.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/R_pinky_2_hull.stl" />
      </geometry>
    </collision>
  </link>
  <joint name="R_pinky_2_joint" type="revolute">
    <origin xyz="-0.00025731 0.032131 -0.001" rpy="0 0 0" />
    <parent link="R_pinky_1" />
    <child link="R_pinky_2" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="1.7" effort="10" velocity="6" />
      <mimic joint="R_pinky_1_joint" multiplier="1" offset="0" />
  </joint>

  <joint name="right_wrist_motor_A_ball" type="fixed">
    <origin xyz="0.005 0.02245 -0.0245" rpy="0 -0.01481371 0" />
    <parent link="right_arm_link05" />
    <child link="right_wrist_motor_A" />
  </joint>
  <link name="right_wrist_motor_A">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_wrist_motor_A.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_wrist_motor_A_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="right_wrist_rod_A_joint" type="fixed">
    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
    <parent link="right_wrist_motor_A" />
    <child link="right_wrist_rod_A" />
    <axis xyz="0 0 1" />
    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
  </joint>
  <link name="right_wrist_rod_A">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_wrist_rod_A.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_wrist_rod_A_hull.stl" />
      </geometry>
    </collision>
  </link>

  <joint name="right_wrist_motor_B_ball" type="fixed">
    <origin xyz="0.005 -0.02245 -0.0245" rpy="0 -0.01481371 0" />
    <parent link="right_arm_link05" />
    <child link="right_wrist_motor_B" />
  </joint>
  <link name="right_wrist_motor_B">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_wrist_motor_B.stl"/>
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_wrist_motor_B_hull.stl"/>
      </geometry>
    </collision>
  </link>

  <joint name="right_wrist_rod_B_joint" type="fixed">
    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
    <parent link="right_wrist_motor_B" />
    <child link="right_wrist_rod_B" />
    <axis xyz="0 0 1" />
    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
  </joint>
  <link name="right_wrist_rod_B">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/right_wrist_rod_B.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/right_wrist_rod_B_hull.stl" />
      </geometry>
    </collision>
  </link>


  <link name="head_link01">
    <inertial>
      <origin xyz="-0.00154008 0.00649494 0.11627791" rpy="0 0 0" />
      <mass value="1.39889495" />
      <inertia ixx="0.00378192" iyy="0.00393150" izz="0.00152438" ixy="-0.00000282" ixz="0.00029671" iyz="-0.00021616"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/head_link01.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/head_link01_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx27_head_joint1" type="revolute">
    <origin xyz="-0.03779 0 0.4101" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="head_link01" />
    <axis xyz="0 0 1" />
    <limit lower="-2.2" upper="2.2" effort="50" velocity="6" />
  </joint>

  <link name="head_link02">
    <inertial>
      <origin xyz="0.03256533 0.02834041 0.00009476" rpy="0 0 0" />
      <mass value="0.65606942" />
      <inertia ixx="0.00350189" iyy="0.00369636" izz="0.00360950" ixy="0.00039729" ixz="-0.00000150" iyz="0.00000231"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/head_link02.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/collision/head_link02_hull.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx28_head_joint2" type="revolute">
    <origin xyz="-0.00501 0 0.16059" rpy="1.5707963 0 0" />
    <parent link="head_link01" />
    <child link="head_link02" />
    <axis xyz="0 0 1" />
    <limit lower="-0.5" upper="0.5" effort="50" velocity="6" />
  </joint>

  <link name="logo">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://a2_description/meshes/visual/logo.stl" />
      </geometry>
      <material name="metallic black">
        <color rgba="0.235294118 0.235294118 0.235294118 1" />
      </material>
    </visual>
  </link>
  <joint name="logo_fixed" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="logo" />
  </joint>
</robot>
