<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/zy/Motion/tools_py/install/genie_robot_description/share/genie_robot_description/xacro/genie.robot.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="genie">
  <!-- coarse, fine, visual -->
  <!-- <xacro:arg name="robot_model" default="G1" />
  <xacro:arg name="robot_model" default="G1" /> -->
  <!-- robot -->
  <!-- <xacro:property name="mesh_dir" value="package://${package_name}/meshes" /> -->
  <!-- Material Definition -->
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 1.0 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
  </material>
  <material name="brown">
    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
  </material>
  <material name="red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <!-- transparent is not working properly -->
  <material name="transparent">
    <color rgba="1.0 1.0 1.0 0.999"/>
  </material>
  <material name="default">
    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
  </material>
  <!-- main xacro -->
  <!-- main xacro -->
  <!-- main xacro -->
  <!-- main xacro -->
  <!-- <xacro:macro name="arm_l" params="debug parent_link end_link"> -->
  <!-- properties -->
  <!-- Arm -->
  <material name="silver">
    <color rgba="0.9137254901960784 0.9137254901960784 0.8470588235294118 1.0"/>
  </material>
  <material name="tips">
    <color rgba="1 0.16863 0.16863 1"/>
  </material>
  <material name="metacarpals">
    <color rgba="0.65098 0.61961 0.58824 1"/>
  </material>
  <!-- assemble robot -->
  <!-- properties -->
  <!-- Base -->
  <link name="base_link">
    <!-- &#26377;&#30005;&#27744;&#37197;&#32622;&#65306;&#21253;&#21547;&#30005;&#27744;&#36136;&#37327;&#65292;&#37325;&#24515;&#20301;&#32622;&#21644;&#24815;&#24615;&#24352;&#37327;&#30456;&#24212;&#35843;&#25972;&#65288;&#40664;&#35748;&#37197;&#32622;&#65289; -->
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0034754 0.0061443 0.096655"/>
      <mass value="80"/>
      <inertia ixx="0.7115" ixy="-1.6509E-05" ixz="0.011945" iyy="0.82339" iyz="-3.6042E-05" izz="1.3573"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/base_link_0.STL"/></geometry><material name=""><color rgba="0.9804 0.4314 0.0000 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/base_link_1.STL"/></geometry><material name=""><color rgba="0.0000 0.0000 0.0000 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/base_link_2.STL"/></geometry><material name=""><color rgba="0.5020 0.5020 0.5020 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/base_link_3.STL"/></geometry><material name=""><color rgba="0.0118 0.0118 0.0118 1"/></material></visual><collision name="base_link_coarse_0">
      <geometry>
        <box size="0.62673163 0.17409083 0.3258258"/>
      </geometry>
      <origin rpy="0.0 -0.0 0.0" xyz="0.011247277 -0.23094544 0.16291195"/>
    </collision>
    <collision name="base_link_coarse_1">
      <geometry>
        <box size="0.62667394 0.18714839 0.3258258"/>
      </geometry>
      <origin rpy="0.0 -0.0 0.0" xyz="0.011277318 0.23441666 0.16291195"/>
    </collision>
    <collision name="base_link_coarse_2">
      <geometry>
        <box size="0.6246023 0.23870158 0.06967827"/>
      </geometry>
      <origin rpy="0.0 -0.0 0.0" xyz="0.01230073 -0.01307106 0.11483914"/>
    </collision>
  </link>
  <link name="body_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00489400639408126 0.000193106698721912 0.175561673292876"/>
      <mass value="20.7873543330424"/>
      <inertia ixx="0.261032758003677" ixy="0.000602528716197084" ixz="-1.29680162892322E-05" iyy="0.260630471698783" iyz="-0.000709763689000467" izz="0.059577479809498"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link1.STL"/></geometry><material name=""><color rgba="0.0118 0.0118 0.0118 1"/></material></visual><collision name="Cylinder">
      <origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
      <geometry>
        <cylinder length="0.153391" radius="0.089146"/>
      </geometry>
    </collision>
    <collision name="Cylinder.001">
      <origin rpy="1.570796 -0.000000 0.000000" xyz="0.000000 0.000000 0.360000"/>
      <geometry>
        <cylinder length="0.153391" radius="0.089146"/>
      </geometry>
    </collision>
    <collision name="Cube">
      <origin rpy="0.000000 0.000000 0.000000" xyz="-0.024457 0.000000 0.180000"/>
      <geometry>
        <box size="0.085594 0.176618 0.351288"/>
      </geometry>
    </collision>
    <collision name="Cube.001">
      <origin rpy="0.000000 0.000000 0.000000" xyz="-0.009824 0.075429 0.180136"/>
      <geometry>
        <box size="0.112587 0.027062 0.240828"/>
      </geometry>
    </collision>
    <collision name="Cube.002">
      <origin rpy="0.000000 0.000000 0.000000" xyz="-0.009824 -0.075429 0.180136"/>
      <geometry>
        <box size="0.112587 0.027062 0.240828"/>
      </geometry>
    </collision>
  </link>
  <joint name="idx01_body_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0.102 0 0.144"/>
    <parent link="base_link"/>
    <child link="body_link1"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-1.0821" upper="0.0" velocity="0"/>
  </joint>
  <link name="body_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00254034356479389 -0.0437019539573708 0.185408475115362"/>
      <mass value="12.4097528419251"/>
      <inertia ixx="0.195214319300036" ixy="-2.0467554323506E-05" ixz="0.00360134174333636" iyy="0.208364581033745" iyz="-4.02135855207347E-05" izz="0.0221456249678955"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link2_0.STL"/></geometry><material name=""><color rgba="0.0118 0.0118 0.0118 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link2_1.STL"/></geometry><material name=""><color rgba="0.5020 0.5020 0.5020 1"/></material></visual><collision name="body_link2_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/body_link2.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="body_link2_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx02_body_joint2" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.36"/>
    <parent link="body_link1"/>
    <child link="body_link2"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="0.0" upper="2.6529" velocity="0"/>
  </joint>
  <link name="body_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000429683996786348 -0.00641623694858151 4.19233757444903E-05"/>
      <mass value="7.34765728790629"/>
      <inertia ixx="0.0253682597505229" ixy="-8.63202978370692E-05" ixz="5.03287620270186E-06" iyy="0.0245465908681745" iyz="0.00010798897559337" izz="0.0236233112440919"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link3.STL"/></geometry><material name=""><color rgba="0.0118 0.0118 0.0118 1"/></material></visual><collision name="body_link3_convex_0">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/body_link3.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="body_link3_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx03_body_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.38"/>
    <parent link="body_link2"/>
    <child link="body_link3"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-1.919" upper="1.117" velocity="0"/>
  </joint>
  <link name="body_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0714497732220123 -6.54615430835531E-05 0.0300405432603843"/>
      <mass value="6.23060984301658"/>
      <inertia ixx="0.0248588323804035" ixy="4.12661173047439E-05" ixz="0.00171366593325419" iyy="0.0315396763705882" iyz="1.37672137570577E-05" izz="0.0278671278403372"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link4_0.STL"/></geometry><material name=""><color rgba="0.0196 0.0196 0.0196 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link4_1.STL"/></geometry><material name=""><color rgba="0.7098 0.7098 0.7098 1"/></material></visual><collision name="body_link4_convex_1">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/body_link4_1.STL"/>
      </geometry>
    </collision>
    <collision name="body_link4_convex_2">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/body_link4_2.STL"/>
      </geometry>
    </collision>
    <collision name="body_link4_convex_3">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/body_link4_3.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="body_link4_convex_1"/>
      <convex name="body_link4_convex_2"/>
      <convex name="body_link4_convex_3"/>
    </collision_checking>
  </link>
  <joint name="idx04_body_joint4" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="body_link3"/>
    <child link="body_link4"/>
    <axis xyz="1 0 0"/>
    <limit effort="0" lower="-0.436332313" upper="0.436332313" velocity="0"/>
  </joint>
  <link name="body_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0244423519676249 0.000202655359185969 0.136945087391502"/>
      <mass value="7.9008845440508"/>
      <inertia ixx="0.0775083196428173" ixy="-2.84236541752216E-05" ixz="-0.000289173735305952" iyy="0.0555694041163671" iyz="-7.14577046048758E-05" izz="0.0426933229005545"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link5_0.STL"/></geometry><material name=""><color rgba="0.2431 0.2431 0.2431 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link5_1.STL"/></geometry><material name=""><color rgba="0.9725 0.6235 0.0000 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link5_2.STL"/></geometry><material name=""><color rgba="0.0000 0.0000 0.0000 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link5_3.STL"/></geometry><material name=""><color rgba="0.8745 0.8745 0.8745 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/body_link5_4.STL"/></geometry><material name=""><color rgba="0.0275 0.0275 0.0275 1"/></material></visual><collision name="body_link5_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/body_link5.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="body_link5_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx05_body_joint5" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.149"/>
    <parent link="body_link4"/>
    <child link="body_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-3.045599545" upper="3.045599545" velocity="0"/>
  </joint>
  <!-- Arm -->
  <link name="arm_base_link"/>
  <joint name="idx20_arm_base_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 0" xyz="0.0 0.0 0.3085"/>
    <parent link="body_link5"/>
    <child link="arm_base_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!-- Chassis -->
  <link name="chassis_link">
    <!-- <inertial>
        <origin
          xyz="-0.0018354 0.00048186 0.098072"
          rpy="0 0 0" />
        <mass
          value="69.65" />
        <inertia
          ixx="0.54948"
          ixy="-0.00025682"
          ixz="0.021942"
          iyy="0.94415"
          iyz="6.8345E-06"
          izz="1.2015" />
      </inertial> -->
    <!-- <visual>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="${mesh_dir}/G2/T2/chassis_link.fbx" />
        </geometry>
        <material
          name="chassis_material">
          <color
            rgba="0.75294 0.75294 0.75294 1" />
        </material>
      </visual>
      <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="${mesh_dir}/G2/T2/chassis_link.fbx" />
        </geometry>
      </collision> -->
  </link>
  <link name="chassis_lwheel_front_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="4.8347E-05 -0.021386 -0.055149"/>
      <mass value="0.59301"/>
      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="-1.4058E-06" iyy="0.00087934" iyz="-0.00039606" izz="0.00056331"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_lwheel_front_link1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.86667 0.86667 0.8902 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="${mesh_dir}/G2/T2/chassis_lwheel_front_link1.fbx" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx111_chassis_lwheel_front_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0.23 0.218 0.16675"/>
    <parent link="chassis_link"/>
    <child link="chassis_lwheel_front_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08"/>
  </joint>
  <link name="chassis_lwheel_front_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.3442E-06 -0.0013086 1.0892E-05"/>
      <mass value="3.6283"/>
      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="3.433E-08" iyy="0.010779" iyz="3.6966E-07" izz="0.0058842"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_lwheel_front_link2.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="${PI_2} 0 0" />
        <geometry>
          <cylinder radius="0.07" length="0.04" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx112_chassis_lwheel_front_joint2" type="continuous">
    <origin rpy="0 0 0" xyz="0 -5E-05 -0.13675"/>
    <parent link="chassis_lwheel_front_link1"/>
    <child link="chassis_lwheel_front_link2"/>
    <axis xyz="0 1 0"/>
    <limit effort="8" lower="0" upper="0" velocity="20.9"/>
  </joint>
  <link name="chassis_rwheel_front_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="-4.8347E-05 0.021386 -0.055149"/>
      <mass value="0.59301"/>
      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="1.4058E-06" iyy="0.00087934" iyz="0.00039606" izz="0.00056331"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_rwheel_front_link1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.86667 0.86667 0.8902 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="${mesh_dir}/G2/T2/chassis_rwheel_front_link1.fbx" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx131_chassis_rwheel_front_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0.23 -0.218 0.16675"/>
    <parent link="chassis_link"/>
    <child link="chassis_rwheel_front_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08"/>
  </joint>
  <link name="chassis_rwheel_front_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="2.3442E-06 0.0013086 1.0892E-05"/>
      <mass value="3.6283"/>
      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="-3.433E-08" iyy="0.010779" iyz="-3.6966E-07" izz="0.0058842"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_rwheel_front_link2.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="${PI_2} 0 0" />
        <geometry>
          <cylinder radius="0.07" length="0.04" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx132_chassis_rwheel_front_joint2" type="continuous">
    <origin rpy="0 0 0" xyz="0 5E-05 -0.13675"/>
    <parent link="chassis_rwheel_front_link1"/>
    <child link="chassis_rwheel_front_link2"/>
    <axis xyz="0 1 0"/>
    <limit effort="8" lower="0" upper="0" velocity="20.9"/>
  </joint>
  <link name="chassis_rwheel_rear_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="-4.8347E-05 0.021386 -0.055149"/>
      <mass value="0.59301"/>
      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="1.4058E-06" iyy="0.00087934" iyz="0.00039606" izz="0.00056331"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_rwheel_rear_link1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.86667 0.86667 0.8902 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="${mesh_dir}/G2/T2/chassis_rwheel_rear_link1.fbx" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx141_chassis_rwheel_rear_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="-0.23 -0.218 0.16675"/>
    <parent link="chassis_link"/>
    <child link="chassis_rwheel_rear_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08"/>
  </joint>
  <link name="chassis_rwheel_rear_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="2.3442E-06 0.0013086 1.0892E-05"/>
      <mass value="3.6283"/>
      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="-3.433E-08" iyy="0.010779" iyz="-3.6966E-07" izz="0.0058842"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_rwheel_rear_link2.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="${PI_2} 0 0" />
        <geometry>
          <cylinder radius="0.07" length="0.04" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx142_chassis_rwheel_rear_joint2" type="continuous">
    <origin rpy="0 0 0" xyz="0 5E-05 -0.13675"/>
    <parent link="chassis_rwheel_rear_link1"/>
    <child link="chassis_rwheel_rear_link2"/>
    <axis xyz="0 1 0"/>
    <limit effort="8" lower="0" upper="0" velocity="20.9"/>
  </joint>
  <link name="chassis_lwheel_rear_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="4.8347E-05 -0.021386 -0.055149"/>
      <mass value="0.59301"/>
      <inertia ixx="0.001129" ixy="-6.1014E-07" ixz="-1.4058E-06" iyy="0.00087934" iyz="-0.00039606" izz="0.00056331"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_lwheel_rear_link1.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.86667 0.86667 0.8902 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="0 0 0" />
        <geometry>
          <mesh
            filename="${mesh_dir}/G2/T2/chassis_lwheel_rear_link1.fbx" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx121_chassis_lwheel_rear_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="-0.23 0.218 0.16675"/>
    <parent link="chassis_link"/>
    <child link="chassis_lwheel_rear_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="15" lower="-2.97" upper="2.97" velocity="4.08"/>
  </joint>
  <link name="chassis_lwheel_rear_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-2.3442E-06 -0.0013086 1.0892E-05"/>
      <mass value="3.6283"/>
      <inertia ixx="0.0058835" ixy="2.2411E-07" ixz="3.433E-08" iyy="0.010779" iyz="3.6966E-07" izz="0.0058842"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/chassis_lwheel_rear_link2.STL"/>
      </geometry>
      <material name="">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <!-- <collision>
        <origin
          xyz="0 0 0"
          rpy="${PI_2} 0 0" />
        <geometry>
          <cylinder radius="0.07" length="0.04" />
        </geometry>
      </collision> -->
  </link>
  <joint name="idx122_chassis_lwheel_rear_joint2" type="continuous">
    <origin rpy="0 0 0" xyz="0 -5E-05 -0.13675"/>
    <parent link="chassis_lwheel_rear_link1"/>
    <child link="chassis_lwheel_rear_link2"/>
    <axis xyz="0 1 0"/>
    <limit effort="8" lower="0" upper="0" velocity="20.9"/>
  </joint>
  <joint name="idx100_chassis_base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="chassis_link"/>
  </joint>
  <!-- Head -->
  <link name="head_base_link"/>
  <joint name="idx10_head_base_joint" type="fixed">
    <origin rpy="0 0 0" xyz="-0.013 0 0.496"/>
    <parent link="body_link5"/>
    <child link="head_base_link"/>
    <axis xyz="0 0 0"/>
  </joint>
  <link name="head_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00424600804033498 -1.36432084463234E-07 -0.0288855031850013"/>
      <mass value="0.245638470524919"/>
      <inertia ixx="0.000295474845844785" ixy="2.16595664256454E-10" ixz="3.96168576252704E-05" iyy="0.000306992190315694" iyz="9.72631848310033E-10" izz="8.960900480058E-05"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link1.STL"/></geometry><material name=""><color rgba="0.0863 0.0824 0.0941 1"/></material></visual><collision name="head_link1_convex_0">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/head_link1.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="head_link1_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx11_head_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="-0.013 0 0.496"/>
    <parent link="body_link5"/>
    <child link="head_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="0" lower="-1.5707" upper="1.5707" velocity="0"/>
  </joint>
  <link name="head_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0363590807062005 -0.000333631107655816 -0.00246318093563791"/>
      <mass value="0.0944986936701784"/>
      <inertia ixx="5.65442302061785E-05" ixy="3.12497480897119E-07" ixz="-9.76196362183098E-07" iyy="3.80437118326616E-05" iyz="-4.40659777809432E-08" izz="5.02982854229241E-05"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link2.STL"/></geometry><material name=""><color rgba="0.0863 0.0824 0.0941 1"/></material></visual><collision name="head_link2_convex_0">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/head_link2.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="head_link2_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx12_head_joint2" type="revolute">
    <origin rpy="0 0 0" xyz="0.03335 0 0.07"/>
    <parent link="head_link1"/>
    <child link="head_link2"/>
    <axis xyz="1 0 0"/>
    <limit effort="0" lower="-0.3490" upper="0.3490" velocity="0"/>
  </joint>
  <link name="head_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00327292724863273 2.14734069719363E-05 0.0163618254217082"/>
      <mass value="17.8197028286005"/>
      <inertia ixx="0.0456161978243042" ixy="-3.46049842158625E-06" ixz="-0.000566950981666778" iyy="0.0558096580410143" iyz="-5.53441269801176E-06" izz="0.0712602089203159"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link3_0.STL"/></geometry><material name=""><color rgba="0.1059 0.1059 0.1059 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link3_1.STL"/></geometry><material name=""><color rgba="0.9725 0.6235 0.0000 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link3_2.STL"/></geometry><material name=""><color rgba="0.0275 0.0275 0.0275 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link3_3.STL"/></geometry><material name=""><color rgba="0.0118 0.0118 0.0118 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/G2/T2/head_link3_4.STL"/></geometry><material name=""><color rgba="0.0000 0.0000 0.0000 1"/></material></visual><collision name="head_link3_convex_0">
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://genie_robot/meshes/G2/T2/convex/head_link3.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="head_link3_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx13_head_joint3" type="revolute">
    <origin rpy="0 0 0" xyz="-0.03035 0 0"/>
    <parent link="head_link2"/>
    <child link="head_link3"/>
    <axis xyz="0 1 0"/>
    <limit effort="0" lower="-0.5236" upper="0.5236" velocity="0"/>
  </joint>
  <!-- properties -->
  <!-- Arm -->
  <link name="arm_l_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="1.875E-05 0.006003 0.1438"/>
      <mass value="2.0926"/>
      <inertia ixx="0.00515643" ixy="2.62E-06" ixz="3.78E-06" iyy="0.0055553" iyz="0.00038404" izz="0.00198037"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link1_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link1_mat">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision name="arm_l_link1_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link1_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link1_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx21_arm_l_joint1" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0.069"/>
    <parent link="arm_base_link"/>
    <child link="arm_l_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="108" lower="-3.071796937" upper="3.071796937" velocity="3.1416"/>
  </joint>
  <link name="arm_l_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-7.03E-06 0.05542 0.010995"/>
      <mass value="1.9432"/>
      <inertia ixx="0.01035460" ixy="-5.59E-06" ixz="2.06E-06" iyy="0.00316139" iyz="-0.00119042" izz="0.00953530"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/arm/Link2_P6_0.STL"/></geometry><material name=""><color rgba="0.2275 0.2275 0.2275 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/arm/Link2_P6_1.STL"/></geometry><material name=""><color rgba="1.0000 1.0000 1.0000 1"/></material></visual><collision name="arm_l_link2_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link2_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link2_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx22_arm_l_joint2" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 0 0.1745"/>
    <parent link="arm_l_link1"/>
    <child link="arm_l_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="108" lower="-2.059505971" upper="2.059505971" velocity="3.1416"/>
  </joint>
  <link name="arm_l_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0087411 0.0019043 0.23487"/>
      <mass value="1.6913"/>
      <inertia ixx="0.00650115" ixy="3.338E-05" ixz="0.00079318" iyy="0.00689453" iyz="0.00017675" izz="0.00164437"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link3_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link3_mat">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision name="arm_l_link3_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link3_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link3_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx23_arm_l_joint3" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
    <parent link="arm_l_link2"/>
    <child link="arm_l_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="66" lower="-3.071796937" upper="3.071796937" velocity="3.1416"/>
  </joint>
  <link name="arm_l_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0086935 0.045984 0.011135"/>
      <mass value="1.5332"/>
      <inertia ixx="0.00527549" ixy="-0.00061752" ixz="0.00012895" iyy="0.00208586" iyz="-6.871E-04" izz="0.00489695"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link4_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link4_mat">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision name="arm_l_link4_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link4_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link4_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx24_arm_l_joint4" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0.018 0 0.287"/>
    <parent link="arm_l_link3"/>
    <child link="arm_l_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="66" lower="-2.495838284" upper="1.012308419" velocity="3.1416"/>
  </joint>
  <link name="arm_l_link5">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00036467 0.0001479 0.19902"/>
      <mass value="2.0095"/>
      <inertia ixx="0.00569595" ixy="-3.48E-05" ixz="-4.596E-05" iyy="0.00527845" iyz="2.404E-05" izz="0.00211298"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link5_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link5_mat">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision name="arm_l_link5_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link5_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link5_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx25_arm_l_joint5" type="revolute">
    <origin rpy="-1.5708 0 0" xyz="-0.018 0 0"/>
    <parent link="arm_l_link4"/>
    <child link="arm_l_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="18" lower="-3.071796937" upper="3.071796937" velocity="3.1416"/>
  </joint>
  <link name="arm_l_link6">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.004911 0.00027206 -8.14E-05"/>
      <mass value="0.67002"/>
      <inertia ixx="0.00048932" ixy="-1.41E-06" ixz="1.89E-06" iyy="0.00040004" iyz="6.4E-07" izz="0.00036921"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link6_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link6_mat">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision name="arm_l_link6_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link6_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link6_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx26_arm_l_joint6" type="revolute">
    <origin rpy="1.5708 0 0" xyz="0 0 0.314"/>
    <parent link="arm_l_link5"/>
    <child link="arm_l_link6"/>
    <axis xyz="0 0 1"/>
    <limit effort="18" lower="-1.012308419" upper="1.012308419" velocity="3.1416"/>
  </joint>
  <link name="arm_l_link7">
    <inertial>
      <origin rpy="0 0 0" xyz="0.04513370 0.00004672 0.00607482"/>
      <mass value="0.31657"/>
      <inertia ixx="0.00037121" ixy="4.6E-07" ixz="-8.646E-05" iyy="0.00067341" iyz="-5.1E-07" izz="0.00053248"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link7_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link7_mat">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision name="arm_l_link7_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_l_link7_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_l_link7_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx27_arm_l_joint7" type="revolute">
    <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
    <parent link="arm_l_link6"/>
    <child link="arm_l_link7"/>
    <axis xyz="0 0 1"/>
    <limit effort="18" lower="-1.535907195" upper="1.535907195" velocity="3.1416"/>
  </joint>
  <link name="arm_l_end_link"/>
  <joint name="arm_l_end_joint" type="fixed">
    <origin rpy="3.1416 -1.5708 0" xyz="0.088 0.0 0.0"/>
    <parent link="arm_l_link7"/>
    <child link="arm_l_end_link"/>
  </joint>
  <!-- properties -->
  <!-- Arm -->
  <link name="arm_r_link1">
    <inertial>
      <origin rpy="0 0 0" xyz="1.875E-05 0.006003 0.1438"/>
      <mass value="2.0926"/>
      <inertia ixx="0.00515643" ixy="2.62E-06" ixz="3.78E-06" iyy="0.0055553" iyz="0.00038404" izz="0.00198037"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link1_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link1_mat">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision name="arm_r_link1_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link1_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link1_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx61_arm_r_joint1" type="revolute">
    <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.069"/>
    <parent link="arm_base_link"/>
    <child link="arm_r_link1"/>
    <axis xyz="0 0 1"/>
    <limit effort="108" lower="-3.071796937" upper="3.071796937" velocity="3.1416"/>
  </joint>
  <link name="arm_r_link2">
    <inertial>
      <origin rpy="0 0 0" xyz="-7.03E-06 0.05542 0.010995"/>
      <mass value="1.9432"/>
      <inertia ixx="0.01035460" ixy="-5.59E-06" ixz="2.06E-06" iyy="0.00316139" iyz="-0.00119042" izz="0.00953530"/>
    </inertial>
    <visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/arm/Link2_P6_r_0.STL"/></geometry><material name=""><color rgba="0.2275 0.2275 0.2275 1"/></material></visual><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://genie_robot/meshes/arm/Link2_P6_r_1.STL"/></geometry><material name=""><color rgba="1.0000 1.0000 1.0000 1"/></material></visual><collision name="arm_r_link2_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link2_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link2_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx62_arm_r_joint2" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0.1745"/>
    <parent link="arm_r_link1"/>
    <child link="arm_r_link2"/>
    <axis xyz="0 0 1"/>
    <limit effort="108" lower="-2.059505971" upper="2.059505971" velocity="3.1416"/>
  </joint>
  <link name="arm_r_link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0087411 0.0019043 0.23487"/>
      <mass value="1.6913"/>
      <inertia ixx="0.00650115" ixy="3.338E-05" ixz="0.00079318" iyy="0.00689453" iyz="0.00017675" izz="0.00164437"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link3_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link3_mat">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision name="arm_r_link3_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link3_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link3_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx63_arm_r_joint3" type="revolute">
    <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
    <parent link="arm_r_link2"/>
    <child link="arm_r_link3"/>
    <axis xyz="0 0 1"/>
    <limit effort="66" lower="-3.071796937" upper="3.071796937" velocity="3.1416"/>
  </joint>
  <link name="arm_r_link4">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0086935 0.045984 0.011135"/>
      <mass value="1.5332"/>
      <inertia ixx="0.00527549" ixy="-0.00061752" ixz="0.00012895" iyy="0.00208586" iyz="-6.871E-04" izz="0.00489695"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link4_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link4_mat">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision name="arm_r_link4_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link4_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link4_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx64_arm_r_joint4" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0.018 0 0.287"/>
    <parent link="arm_r_link3"/>
    <child link="arm_r_link4"/>
    <axis xyz="0 0 1"/>
    <limit effort="66" lower="-2.495838284" upper="1.012308419" velocity="3.1416"/>
  </joint>
  <link name="arm_r_link5">
    <inertial>
      <origin rpy="0 0 0" xyz=" 0.00036663 -0.00041429 0.19889130 "/>
      <mass value="1.9854"/>
      <inertia ixx="0.00567529" ixy="-0.00003473" ixz="0.00004594" iyy="0.00526345" iyz="-0.00002975" izz="0.00209504"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link5_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link5_mat">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision name="arm_r_link5_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link5_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link5_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx65_arm_r_joint5" type="revolute">
    <origin rpy="-1.5707963267948966 0 0" xyz="-0.018 0 0"/>
    <parent link="arm_r_link4"/>
    <child link="arm_r_link5"/>
    <axis xyz="0 0 1"/>
    <limit effort="18" lower="-3.071796937" upper="3.071796937" velocity="3.1416"/>
  </joint>
  <link name="arm_r_link6">
    <inertial>
      <origin rpy="0 0 0" xyz=" -0.00458177 -0.00027029 0.00009098"/>
      <mass value=" 0.64594816"/>
      <inertia ixx="0.00047709" ixy="0.00000139" ixz="-0.00000196" iyy="0.00039190" iyz="0.00000071" izz="0.00036115"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link6_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link6_mat">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision name="arm_r_link6_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link6_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link6_convex_0"/>
    </collision_checking>
  </link>
  <joint name="idx66_arm_r_joint6" type="revolute">
    <origin rpy="1.5707963267948966 0 0" xyz="0 0 0.314"/>
    <parent link="arm_r_link5"/>
    <child link="arm_r_link6"/>
    <axis xyz="0 0 1"/>
    <limit effort="18" lower="-1.012308419" upper="1.012308419" velocity="3.1416"/>
  </joint>
  <link name="arm_r_link7">
    <inertial>
      <origin rpy="0 0 0" xyz=" 0.04513370 0.00004672 0.00607482"/>
      <mass value="0.31658"/>
      <inertia ixx="0.00037121" ixy="4.6E-07" ixz="-8.646E-05" iyy="0.00067341" iyz="-5.1E-07" izz="0.00053248"/>
    </inertial>
    <visual name="default_visual">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/Link7_P6.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="link7_mat">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision name="arm_r_link7_convex_0">
      <geometry>
        <mesh filename="package://genie_robot/meshes/arm/convex/arm_r_link7_fine_0.STL"/>
      </geometry>
    </collision>
    <collision_checking>
      <convex name="arm_r_link7_convex_0"/>
    </collision_checking>
  </link>
  <link name="arm_r_end_link"/>
  <joint name="idx67_arm_r_joint7" type="revolute">
    <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
    <parent link="arm_r_link6"/>
    <child link="arm_r_link7"/>
    <axis xyz="0 0 1"/>
    <limit effort="18" lower="-1.535907195" upper="1.535907195" velocity="3.1416"/>
  </joint>
  <joint name="arm_r_end_joint" type="fixed">
    <origin rpy="3.141592653589793 -1.5707963267948966 0" xyz="0.088 0.0 0.0"/>
    <parent link="arm_r_link7"/>
    <child link="arm_r_end_link"/>
  </joint>
  <!-- Eastern Eggs -->
  <!-- All Together -->
</robot>
