<?xml version="1.0"?>
<robot name="A2D">
  <link name="base_link">
    <inertial>
      <origin xyz="-0.0134486971267798 0.00152103941353612 -0.0320076754329413" rpy="0 0 0"/>
      <mass value="23.2085382238952"/>  <!-- 底盘质量约23.2kg -->
      <inertia
        ixx="0.386955641760608" ixy="0.000135417314593726" ixz="0.00669301645720665"
        iyy="0.366800407621218" iyz="0.000105713634260505" izz="0.546852919828475"/>
    </inertial>
    
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>  <!-- 灰色 -->
      </material>
    </visual>
    
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- 升降机构link：控制整体高度的部分 -->
  <link name="link-up-down_body">
    <inertial>
      <origin xyz="0.0338351537064605 -0.00248044044451858 0.000838431095422365" rpy="0 0 0"/>
      <mass value="3.26275452360108"/>
      <inertia
        ixx="0.0128301877197417" ixy="8.24967996575627E-06" ixz="1.38254543337324E-05"
        iyy="0.006104110250297" iyz="-7.99392548994692E-06" izz="0.0111721084996867"/>
    </inertial>
    
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://meshes/link-up-down_body.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://meshes/link-up-down_body.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- 升降关节：控制机器人整体高度，可上升30cm -->
  <joint name="joint_lift_body" type="prismatic">
    <origin xyz="0 0 0.6485" rpy="0 0 0"/>  <!-- 从底盘上方34.85cm处开始 -->
    <parent link="base_link"/>
    <child link="link-up-down_body"/>
    <axis xyz="0 0 1"/>                      <!-- 沿Z轴方向运动 -->
    <limit lower="0" upper="0.4" effort="100" velocity="0.1"/>  <!-- 升降范围0-30cm -->
  </joint>

  <!-- 身体俯仰link：可前后倾斜的躯干部分 -->
  <link name="link-pitch_body">
    <inertial>
      <origin xyz="0.193733558855111 -0.000484180179482319 -0.00124011422952511" rpy="0 0 0"/>
      <mass value="7.53199207979272"/>
      <inertia
        ixx="0.016546682835947" ixy="0.000274441382484697" ixz="0.00102757387076422"
        iyy="0.0445441227006132" iyz="-0.000236858278708531" izz="0.0402036337794082"/>
    </inertial>
    
    <visual>
      <origin xyz="0 0 0" rpy="3.14159 0 0"/>
      <geometry>
        <mesh filename="package://meshes/link-pitch_body.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    
    <collision>
      <origin xyz="0 0 0" rpy="3.14159 0 0"/>
      <geometry>
        <mesh filename="package://meshes/link-pitch_body.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- 身体俯仰关节：控制机器人俯仰，可俯仰45度 -->
  <joint name="joint_body_pitch" type="revolute">
    <origin xyz="0.131 0 0" rpy="1.5708 -1.5708 0"/>  <!-- 从升降机构前方13.1cm处 -->
    <parent link="link-up-down_body"/>
    <child link="link-pitch_body"/>
    <axis xyz="0 0 -1"/>                              <!-- 绕Z轴负方向旋转 -->
    <limit lower="0" upper="1.047197551" effort="100" velocity="0.5"/>  <!-- 0-45度俯仰 -->
  </joint>

  <!-- 头部偏航link：可左右转动的头部 -->
  <link name="link-yaw_head">
    <inertial>
      <origin xyz="0.0446068140025754 0.00241753143645124 0.0528373754603559" rpy="0 0 0"/>
      <mass value="0.414342871921048"/>
      <inertia
        ixx="0.000158695728344024" ixy="-1.04590928109554E-06" ixz="-6.58530903139189E-06"
        iyy="0.000117742864399469" iyz="-2.65011299996072E-06" izz="0.000170947040827065"/>
    </inertial>
    
    <visual>
      <origin xyz="0 0 0" rpy="0 0 3.14159"/>
      <geometry>
        <mesh filename="package://meshes/link-yaw_head.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    
    <collision>
      <origin xyz="0 0 0" rpy="0 0 3.14159"/>
      <geometry>
        <mesh filename="package://meshes/link-yaw_head.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- 头部偏航关节：控制头部左右转动，每边90度 -->
  <joint name="joint_head_yaw" type="fixed">
    <origin xyz="0.441 0 0" rpy="1.5708 0 1.5708"/>  <!-- 从躯干前方44.1cm处 -->
    <parent link="link-pitch_body"/>
    <child link="link-yaw_head"/>
    <axis xyz="0 0 1"/>                              <!-- 绕Z轴旋转 -->
    <limit lower="-1.5708" upper="1.5708" effort="50" velocity="1.0"/>  <!-- 左右各90度 -->
  </joint>

  <!-- 头部俯仰link：可上下点头的部分 -->
  <link name="link-pitch_head">
    <inertial>
      <origin xyz="0.0257009265816389 0.0316254080188787 -3.77390122592164E-05" rpy="0 0 0"/>
      <mass value="0.707063977171202"/>
      <inertia
        ixx="0.00205409595373573" ixy="0.000347730118005016" ixz="-2.13857752451204E-06"
        iyy="0.00200357281313449" iyz="5.16150600423908E-08" izz="0.00184999028444405"/>
    </inertial>
    
    <visual>
      <origin xyz="0 0 0" rpy="0 3.14159 0"/>
      <geometry>
        <mesh filename="package://meshes/link-pitch_head.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
      </material>
    </visual>
    
    <collision>
      <origin xyz="0 0 0" rpy="0 3.14159 0"/>
      <geometry>
        <mesh filename="package://meshes/link-pitch_head.STL"/>
      </geometry>
    </collision>
  </link>

  <!-- 头部俯仰关节：控制头部上下点头，每边45度 -->
  <joint name="joint_head_pitch" type="fixed">
    <origin xyz="-0.050238 0 0.060065" rpy="1.5708 0 0"/>
    <parent link="link-yaw_head"/>
    <child link="link-pitch_head"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.785398" upper="0.785398" effort="50" velocity="1.0"/>  <!-- 上下各45度 -->
  </joint>

  <!-- 机械臂link：固定在躯干上的机械臂 -->
  <link name="link-arm"/>

  <!-- 机械臂固定关节：将机械臂固定在躯干上 -->
  <joint name="joint_arm_mount" type="fixed">
    <origin xyz="0.305 0 0" rpy="-1.5708 0 -1.5708"/>  <!-- 从躯干前方30.5cm处固定 -->
    <parent link="link-pitch_body"/>
    <child link="link-arm"/>
    <axis xyz="0 0 1"/>
  </joint>

  <!-- 左臂固定关节：将左臂固定在机器人躯干上 -->
  <joint name="joint_left_arm_mount" type="fixed">
    <origin xyz="0 0.025 0" rpy="-1.5708 0 0"/>  <!-- 从link-arm向左偏移2.5cm -->
    <parent link="link-arm"/>
    <child link="base_link_l"/>
  </joint>

  <!-- 右臂固定关节：将右臂固定在机器人躯干上 -->
  <joint name="joint_right_arm_mount" type="fixed">
    <origin xyz="0 -0.025 0" rpy="1.5708 -3.14159 0"/>  <!-- 从link-arm向右偏移2.5cm -->
    <parent link="link-arm"/>
    <child link="base_link_r"/>
  </joint>

  <!-- 左臂的所有link和joint定义 -->
  <link
    name="base_link_l">
    <inertial>
      <origin
        xyz="0.00020641 -0.00057488 0.034396"
        rpy="0 0 0" />
      <mass
        value="0.37595" />
      <inertia
        ixx="0.00024335"
        ixy="1.2188E-06"
        ixz="2.4281E-06"
        iyy="0.00024039"
        iyz="-6.6932E-06"
        izz="0.00032195" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/base_link_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/base_link_l.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Link1_l">
    <inertial>
      <origin
        xyz="-0.0014596 0.00049476 0.017089"
        rpy="0 0 0" />
      <mass
        value="0.43694" />
      <inertia
        ixx="0.00061894"
        ixy="-6.6923E-06"
        ixz="3.492E-06"
        iyy="0.00054909"
        iyz="1.2223E-06"
        izz="0.00026663" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link1_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link1_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint1_l"
    type="revolute">
    <origin
      xyz="0 0 0.188"
      rpy="3.1416 0 0" />
    <parent
      link="base_link_l" />
    <child
      link="Link1_l" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link2_l">
    <inertial>
      <origin
        xyz="-0.00043013 0.088101 -0.0065021"
        rpy="0 0 0" />
      <mass
        value="0.31992" />
      <inertia
        ixx="0.00033101"
        ixy="-4.1377E-06"
        ixz="9.5154E-07"
        iyy="0.00022098"
        iyz="-4.8041E-05"
        izz="0.00031472" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link2_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link2_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint2_l"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 -1.5708" />
    <parent
      link="Link1_l" />
    <child
      link="Link2_l" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link3_l">
    <inertial>
      <origin
        xyz="0.00022593 0.0010417 0.034985"
        rpy="0 0 0" />
      <mass
        value="0.35545" />
      <inertia
        ixx="0.00081056"
        ixy="-2.4265E-06"
        ixz="9.353E-07"
        iyy="0.00083336"
        iyz="3.8681E-06"
        izz="0.00017128" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link3_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link3_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint3_l"
    type="revolute">
    <origin
      xyz="0 0.305 0"
      rpy="1.5708 1.5708 0" />
    <parent
      link="Link2_l" />
    <child
      link="Link3_l" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link4_l">
    <inertial>
      <origin
        xyz="2.1713E-06 0.071943 -0.0054645"
        rpy="0 0 0" />
      <mass
        value="0.1848" />
      <inertia
        ixx="0.00014344"
        ixy="-1.7659E-08"
        ixz="-4.6234E-09"
        iyy="9.0443E-05"
        iyz="-2.1918E-05"
        izz="0.00013811" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link4_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link4_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint4_l"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 0" />
    <parent
      link="Link3_l" />
    <child
      link="Link4_l" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.09"
      upper="2.09"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link5_l">
    <inertial>
      <origin
        xyz="-7.6715E-07 -6.7798E-05 -0.012879"
        rpy="0 0 0" />
      <mass
        value="0.1775" />
      <inertia
        ixx="0.00012838"
        ixy="1.6718E-09"
        ixz="6.959E-09"
        iyy="0.00013741"
        iyz="3.1692E-07"
        izz="6.2102E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link5_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link5_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint5_l"
    type="revolute">
    <origin
      xyz="0 0.1975 0"
      rpy="1.5708 0 -3.1416" />
    <parent
      link="Link4_l" />
    <child
      link="Link5_l" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="30"
      velocity="3.14" />
  </joint>
  <link
    name="Link6_l">
    <inertial>
      <origin
        xyz="2.2696E-06 -0.10227 -0.0029117"
        rpy="0 0 0" />
      <mass
        value="0.17825" />
      <inertia
        ixx="0.00013761"
        ixy="5.1473E-09"
        ixz="6.9927E-09"
        iyy="8.0777E-05"
        iyz="2.0192E-05"
        izz="0.00012814" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link6_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link6_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint6_l"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 3.1416" />
    <parent
      link="Link5_l" />
    <child
      link="Link6_l" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.74"
      upper="1.74"
      effort="30"
      velocity="3.14" />
  </joint>
  <link
    name="Link7_l">
    <inertial>
      <origin
        xyz="-0.00025629 9.064E-06 -0.017205"
        rpy="0 0 0" />
      <mass
        value="0.06158" />
      <inertia
        ixx="1.8213E-05"
        ixy="-8.6954E-08"
        ixz="1.0858E-07"
        iyy="1.8374E-05"
        iyz="3.2442E-08"
        izz="2.8547E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link7_l.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link7_l.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint7_l"
    type="revolute">
    <origin
      xyz="0 -0.181 0"
      rpy="-1.5708 0 -3.1416" />
    <parent
      link="Link6_l" />
    <child
      link="Link7_l" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-6.28"
      upper="6.28"
      effort="30"
      velocity="3.14" />
  </joint>

  <joint
    name="Joint_hand_l"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="Link7_l" />
    <child
      link="left_base_link" />
    <axis
      xyz="0 0 0" />
  </joint>

  <!-- 右臂的所有link和joint定义 -->
  <link
    name="base_link_r">
    <inertial>
      <origin
        xyz="0.00020641 -0.00057488 0.034396"
        rpy="0 0 0" />
      <mass
        value="0.37595" />
      <inertia
        ixx="0.00024335"
        ixy="1.2188E-06"
        ixz="2.4281E-06"
        iyy="0.00024039"
        iyz="-6.6932E-06"
        izz="0.00032195" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/base_link_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/base_link_r.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Link1_r">
    <inertial>
      <origin
        xyz="0.0013193 0.00016098 0.018211"
        rpy="0 0 0" />
      <mass
        value="0.48414" />
      <inertia
        ixx="0.000726"
        ixy="2.4165E-06"
        ixz="-7.7713E-06"
        iyy="0.00066689"
        iyz="1.2143E-06"
        izz="0.00028434" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link1_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link1_r.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint1_r"
    type="revolute">
    <origin
      xyz="0 0 0.188"
      rpy="-3.1416 0 0" />
    <parent
      link="base_link_r" />
    <child
      link="Link1_r" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link2_r">
    <inertial>
      <origin
        xyz="0.00012037 -0.088102 -0.0062668"
        rpy="0 0 0" />
      <mass
        value="0.31993" />
      <inertia
        ixx="0.00033251"
        ixy="-1.2043E-06"
        ixz="-5.3938E-07"
        iyy="0.00022098"
        iyz="4.5816E-05"
        izz="0.00031325" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link2_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link2_r.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint2_r"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 -1.5708" />
    <parent
      link="Link1_r" />
    <child
      link="Link2_r" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.0"
      upper="2.0"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link3_r">
    <inertial>
      <origin
        xyz="-3.7545E-06 -0.00012549 -0.035846"
        rpy="0 0 0" />
      <mass
        value="0.34932" />
      <inertia
        ixx="0.00084957"
        ixy="-6.2047E-11"
        ixz="1.3496E-08"
        iyy="0.00082652"
        iyz="2.8949E-07"
        izz="0.00021145" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link3_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link3_r.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint3_r"
    type="revolute">
    <origin
      xyz="0 -0.305 0"
      rpy="1.5708 1.5708 0" />
    <parent
      link="Link2_r" />
    <child
      link="Link3_r" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link4_r">
    <inertial>
      <origin
        xyz="1.9102E-06 0.071943 -0.0054646"
        rpy="0 0 0" />
      <mass
        value="0.1848" />
      <inertia
        ixx="0.00014343"
        ixy="-1.7316E-08"
        ixz="-3.4456E-09"
        iyy="9.0442E-05"
        iyz="-2.1917E-05"
        izz="0.0001381" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link4_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link4_r.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint4_r"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 0 -3.1416" />
    <parent
      link="Link3_r" />
    <child
      link="Link4_r" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.35619449"
      upper="2.35619449"
      effort="60"
      velocity="3.14" />
  </joint>
  <link
    name="Link5_r">
    <inertial>
      <origin
        xyz="4.0146E-06 -6.7798E-05 -0.012877"
        rpy="0 0 0" />
      <mass
        value="0.1775" />
      <inertia
        ixx="0.00012838"
        ixy="-3.4874E-09"
        ixz="6.9591E-09"
        iyy="0.00013741"
        iyz="3.1477E-07"
        izz="6.2102E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link5_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link5_r.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint5_r"
    type="revolute">
    <origin
      xyz="0 0.1975 0"
      rpy="1.5708 0 -3.1416" />
    <parent
      link="Link4_r" />
    <child
      link="Link5_r" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="30"
      velocity="3.14" />
  </joint>
  <link
    name="Link6_r">
    <inertial>
      <origin
        xyz="-2.4946E-06 -0.10227 -0.0029098"
        rpy="0 0 0" />
      <mass
        value="0.17825" />
      <inertia
        ixx="0.00013761"
        ixy="-2.7933E-11"
        ixz="6.9889E-09"
        iyy="8.0777E-05"
        iyz="2.0194E-05"
        izz="0.00012814" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link6_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link6_r.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="Joint6_r"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.5708 0 3.1416" />
    <parent
      link="Link5_r" />
    <child
      link="Link6_r" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.74"
      upper="1.74"
      effort="30"
      velocity="3.14" />
  </joint>
  <link
    name="Link7_r">
    <inertial>
      <origin
        xyz="0.0002265 0.00012031 -0.017205"
        rpy="0 0 0" />
      <mass
        value="0.06158" />
      <inertia
        ixx="1.8328E-05"
        ixy="-1.1354E-07"
        ixz="-7.7825E-08"
        iyy="1.8259E-05"
        iyz="-8.2338E-08"
        izz="2.8547E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link7_r.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/Link7_r.STL" />
      </geometry>
    </collision>
  </link>


  <joint
    name="Joint7_r"
    type="revolute">
    <origin
      xyz="0 -0.181 0"
      rpy="-1.5708 0 3.1416" />
    <parent
      link="Link6_r" />
    <child
      link="Link7_r" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-6.28"
      upper="6.28"
      effort="30"
      velocity="3.14" />
  </joint>

  <joint
    name="Joint_hand_r"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="Link7_r" />
    <child
      link="right_base_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_base_link">
    <inertial>
      <origin
        xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"
        rpy="0 0 0" />
      <mass
        value="0.443105756928829" />
      <inertia
        ixx="0.00064200574020552"
        ixy="-1.51180224931458E-07"
        ixz="7.24174172220287E-09"
        iyy="0.00066998312004943"
        iyz="2.73584170951165E-09"
        izz="0.000278949393571484" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="right_Left_01_Link">
    <inertial>
      <origin
        xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967669E-06"
        ixy="6.42395813223716E-07"
        ixz="-1.07950451056367E-14"
        iyy="1.39704780795747E-06"
        iyz="-1.48209813327181E-14"
        izz="2.47457179553145E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_01_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_01_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Left_1_Joint"
    type="revolute">
    <origin
      xyz="-0.032553 0 0.10644"
      rpy="1.5708 0 3.1416" />
    <parent
      link="right_base_link" />
    <child
      link="right_Left_01_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="1"
      effort="2"
      velocity="1000" />
  </joint>


  <link
    name="right_Left_00_Link">
    <inertial>
      <origin
        xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967669E-06"
        ixy="6.42395813223716E-07"
        ixz="-1.07950451056367E-14"
        iyy="1.39704780795747E-06"
        iyz="-1.48209813327181E-14"
        izz="2.47457179553145E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_00_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_00_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="right_Left_0_Joint"
    type="revolute">
    <origin
      xyz="0.01946 0.0129 0"
      rpy="0 0 0" />
    <parent
      link="right_Left_01_Link" />
    <child
      link="right_Left_00_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="1"
      effort="2"
      velocity="1000" />
  </joint>


  <link
    name="right_Left_Support_Link">
    <inertial>
      <origin
        xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"
        rpy="0 0 0" />
      <mass
        value="0.0140092102116716" />
      <inertia
        ixx="4.13674978137002E-06"
        ixy="9.81573398608352E-07"
        ixz="-2.87921970465553E-11"
        iyy="1.1362453186293E-06"
        iyz="2.94726072168702E-11"
        izz="4.10226218364235E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Support_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Support_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Left_Support_Joint"
    type="revolute">
    <origin
      xyz="-0.02888 0.04341 0"
      rpy="0 0 0" />
    <parent
      link="right_Left_00_Link" />
    <child
      link="right_Left_Support_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="right_Left_Pad_Link">
    <inertial>
      <origin
        xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"
        rpy="0 0 0" />
      <mass
        value="0.00332411394949541" />
      <inertia
        ixx="5.5867126170785E-07"
        ixy="2.9966962370347E-20"
        ixz="1.44978830317617E-23"
        iyy="1.45407135182096E-07"
        iyz="-1.60867378777053E-21"
        izz="4.18250297449997E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Left_Pad_Joint"
    type="fixed">
    <origin
      xyz="-0.022056 0.044306 0"
      rpy="0 0 0" />
    <parent
      link="right_Left_Support_Link" />
    <child
      link="right_Left_Pad_Link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="right_Left_2_Link">
    <inertial>
      <origin
        xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"
        rpy="0 0 0" />
      <mass
        value="0.00803955821311802" />
      <inertia
        ixx="1.15079028835042E-06"
        ixy="1.13853775681911E-07"
        ixz="-1.79492796413463E-10"
        iyy="4.68655200337902E-07"
        iyz="-4.49903912976825E-10"
        izz="8.47367915692972E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_2_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Left_2_Joint"
    type="revolute">
    <origin
      xyz="-0.017 0 0.122"
      rpy="1.5708 0 3.1416" />
    <parent
      link="right_base_link" />
    <child
      link="right_Left_2_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="right_Right_2_Link">
    <inertial>
      <origin
        xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"
        rpy="0 0 0" />
      <mass
        value="0.00803955821311803" />
      <inertia
        ixx="1.15079028835042E-06"
        ixy="1.13853775681912E-07"
        ixz="-1.79492796413511E-10"
        iyy="4.68655200337903E-07"
        iyz="-4.49903912976901E-10"
        izz="8.47367915692974E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_2_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Right_2_Joint"
    type="revolute">
    <origin
      xyz="0.017 0 0.122"
      rpy="1.5708 0 0" />
    <parent
      link="right_base_link" />
    <child
      link="right_Right_2_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="right_Right_01_Link">
    <inertial>
      <origin
        xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967663E-06"
        ixy="6.42395813223747E-07"
        ixz="-1.07950449101923E-14"
        iyy="1.39704780795753E-06"
        iyz="-1.48209815851649E-14"
        izz="2.47457179553146E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_01_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_01_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Right_1_Joint"
    type="revolute">
    <origin
      xyz="0.032553 0 0.10644"
      rpy="1.5708 0 0" />
    <parent
      link="right_base_link" />
    <child
      link="right_Right_01_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>

  <link
    name="right_Right_00_Link">
    <inertial>
      <origin
        xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967663E-06"
        ixy="6.42395813223747E-07"
        ixz="-1.07950449101923E-14"
        iyy="1.39704780795753E-06"
        iyz="-1.48209815851649E-14"
        izz="2.47457179553146E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_00_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_00_Link.STL" />
      </geometry>
    </collision>
  </link>

    <joint
    name="right_Right_0_Joint"
    type="revolute">
    
    <origin
      xyz="0.01946 0.0129 0"
      rpy="0 0 0" />
    <parent
      link="right_Right_01_Link" />
    <child
      link="right_Right_00_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>

  <link
    name="right_Right_Support_Link">
    <inertial>
      <origin
        xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"
        rpy="0 0 0" />
      <mass
        value="0.0140092102116716" />
      <inertia
        ixx="4.13674978136988E-06"
        ixy="9.81573398608576E-07"
        ixz="-2.87921970465403E-11"
        iyy="1.13624531862944E-06"
        iyz="2.94726072165632E-11"
        izz="4.10226218364236E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Support_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Support_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Right_Support_Joint"
    type="revolute">
    <origin
      xyz="-0.02888 0.04341 0"
      rpy="0 0 0" />
    <parent
      link="right_Right_00_Link" />
    <child
      link="right_Right_Support_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="right_Right_Pad_Link">
    <inertial>
      <origin
        xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"
        rpy="0 0 0" />
      <mass
        value="0.00332411394949542" />
      <inertia
        ixx="5.58671261707851E-07"
        ixy="3.06066210315894E-20"
        ixz="1.70379713307979E-23"
        iyy="1.45407135182096E-07"
        iyz="-1.65096420438087E-21"
        izz="4.18250297449998E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_Right_Pad_Joint"
    type="fixed">
    <origin
      xyz="-0.022056 0.044306 0"
      rpy="0 0 0" />
    <parent
      link="right_Right_Support_Link" />
    <child
      link="right_Right_Pad_Link" />
    <axis
      xyz="0 0 0" />
  </joint>

  <link
    name="left_base_link">
    <inertial>
      <origin
        xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"
        rpy="0 0 0" />
      <mass
        value="0.443105756928829" />
      <inertia
        ixx="0.00064200574020552"
        ixy="-1.51180224931458E-07"
        ixz="7.24174172220287E-09"
        iyy="0.00066998312004943"
        iyz="2.73584170951165E-09"
        izz="0.000278949393571484" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="left_Left_01_Link">
    <inertial>
      <origin
        xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967669E-06"
        ixy="6.42395813223716E-07"
        ixz="-1.07950451056367E-14"
        iyy="1.39704780795747E-06"
        iyz="-1.48209813327181E-14"
        izz="2.47457179553145E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_01_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_01_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Left_1_Joint"
    type="revolute">
    <origin
      xyz="-0.032553 0 0.10644"
      rpy="1.5708 0 3.1416" />
    <parent
      link="left_base_link" />
    <child
      link="left_Left_01_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="1"
      effort="2"
      velocity="1000" />
  </joint>


  <link
    name="left_Left_00_Link">
    <inertial>
      <origin
        xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967669E-06"
        ixy="6.42395813223716E-07"
        ixz="-1.07950451056367E-14"
        iyy="1.39704780795747E-06"
        iyz="-1.48209813327181E-14"
        izz="2.47457179553145E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_00_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_00_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="left_Left_0_Joint"
    type="revolute">
    
    <origin
      xyz="0.01946 0.0129 0"
      rpy="0 0 0" />
    <parent
      link="left_Left_01_Link" />
    <child
      link="left_Left_00_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>

  <link
    name="left_Left_Support_Link">
    <inertial>
      <origin
        xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"
        rpy="0 0 0" />
      <mass
        value="0.0140092102116716" />
      <inertia
        ixx="4.13674978137002E-06"
        ixy="9.81573398608352E-07"
        ixz="-2.87921970465553E-11"
        iyy="1.1362453186293E-06"
        iyz="2.94726072168702E-11"
        izz="4.10226218364235E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Support_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Support_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Left_Support_Joint"
    type="revolute">
    <origin
      xyz="-0.0093594 0.056229 0"
      rpy="0 0 0" />
    <parent
      link="left_Left_01_Link" />
    <child
      link="left_Left_Support_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="left_Left_Pad_Link">
    <inertial>
      <origin
        xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"
        rpy="0 0 0" />
      <mass
        value="0.00332411394949541" />
      <inertia
        ixx="5.5867126170785E-07"
        ixy="2.9966962370347E-20"
        ixz="1.44978830317617E-23"
        iyy="1.45407135182096E-07"
        iyz="-1.60867378777053E-21"
        izz="4.18250297449997E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_Pad_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Left_Pad_Joint"
    type="fixed">
    <origin
      xyz="-0.022056 0.044306 0"
      rpy="0 0 0" />
    <parent
      link="left_Left_Support_Link" />
    <child
      link="left_Left_Pad_Link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="left_Left_2_Link">
    <inertial>
      <origin
        xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"
        rpy="0 0 0" />
      <mass
        value="0.00803955821311802" />
      <inertia
        ixx="1.15079028835042E-06"
        ixy="1.13853775681911E-07"
        ixz="-1.79492796413463E-10"
        iyy="4.68655200337902E-07"
        iyz="-4.49903912976825E-10"
        izz="8.47367915692972E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_2_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Left_2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Left_2_Joint"
    type="revolute">
    <origin
      xyz="-0.017 0 0.122"
      rpy="1.5708 0 3.1416" />
    <parent
      link="left_base_link" />
    <child
      link="left_Left_2_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="left_Right_2_Link">
    <inertial>
      <origin
        xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"
        rpy="0 0 0" />
      <mass
        value="0.00803955821311803" />
      <inertia
        ixx="1.15079028835042E-06"
        ixy="1.13853775681912E-07"
        ixz="-1.79492796413511E-10"
        iyy="4.68655200337903E-07"
        iyz="-4.49903912976901E-10"
        izz="8.47367915692974E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_2_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_2_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Right_2_Joint"
    type="revolute">
    <origin
      xyz="0.017 0 0.122"
      rpy="1.5708 0 0" />
    <parent
      link="left_base_link" />
    <child
      link="left_Right_2_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="left_Right_01_Link">
    <inertial>
      <origin
        xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967663E-06"
        ixy="6.42395813223747E-07"
        ixz="-1.07950449101923E-14"
        iyy="1.39704780795753E-06"
        iyz="-1.48209815851649E-14"
        izz="2.47457179553146E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_01_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_01_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Right_1_Joint"
    type="revolute">
    <origin
      xyz="0.032553 0 0.10644"
      rpy="1.5708 0 0" />
    <parent
      link="left_base_link" />
    <child
      link="left_Right_01_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
    <mimic
      joint="left_Left_1_Joint"
      multiplier="-1"
      offset="0" />
  </joint>

  <link
    name="left_Right_00_Link">
    <inertial>
      <origin
        xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"
        rpy="0 0 0" />
      <mass
        value="0.0112899386472626" />
      <inertia
        ixx="1.96944973967663E-06"
        ixy="6.42395813223747E-07"
        ixz="-1.07950449101923E-14"
        iyy="1.39704780795753E-06"
        iyz="-1.48209815851649E-14"
        izz="2.47457179553146E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_00_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_00_Link.STL" />
      </geometry>
    </collision>
  </link>

  <joint
    name="left_Right_0_Joint"
    type="revolute">
    <origin
      xyz="0.01946 0.0129 0"
      rpy="0 0 0" />
    <parent
      link="left_Right_01_Link" />
    <child
      link="left_Right_00_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="0"
      upper="1"
      effort="2"
      velocity="1000" />
  </joint>

  <link
    name="left_Right_Support_Link">
    <inertial>
      <origin
        xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"
        rpy="0 0 0" />
      <mass
        value="0.0140092102116716" />
      <inertia
        ixx="4.13674978136988E-06"
        ixy="9.81573398608576E-07"
        ixz="-2.87921970465403E-11"
        iyy="1.13624531862944E-06"
        iyz="2.94726072165632E-11"
        izz="4.10226218364236E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Support_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Support_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Right_Support_Joint"
    type="revolute">
    <origin
      xyz="-0.0093594 0.056229 0"
      rpy="0 0 0" />
    <parent
      link="left_Right_01_Link" />
    <child
      link="left_Right_Support_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="1"
      effort="10"
      velocity="10" />
  </joint>
  <link
    name="left_Right_Pad_Link">
    <inertial>
      <origin
        xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"
        rpy="0 0 0" />
      <mass
        value="0.00332411394949542" />
      <inertia
        ixx="5.58671261707851E-07"
        ixy="3.06066210315894E-20"
        ixz="1.70379713307979E-23"
        iyy="1.45407135182096E-07"
        iyz="-1.65096420438087E-21"
        izz="4.18250297449998E-07" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.384313725490196 0.384313725490196 0.384313725490196 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://meshes/crt_120s/Right_Pad_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_Right_Pad_Joint"
    type="fixed">
    <origin
      xyz="-0.022056 0.044306 0"
      rpy="0 0 0" />
    <parent
      link="left_Right_Support_Link" />
    <child
      link="left_Right_Pad_Link" />
    <axis
      xyz="0 0 0" />
  </joint>

  <link 
      name="gripper_center">
  </link>
  <joint name="gripper_center_joint" type="fixed">
      <origin rpy="0 0 -1.57079632679" xyz="0.0 0.0 0.23"/>
      <parent link="left_base_link"/>
      <child link="gripper_center"/>
  </joint>

  <link 
      name="right_gripper_center">
  </link>

  <joint name="right_gripper_center_joint" type="fixed">
      <origin rpy="0 0 -1.57079632679" xyz="0.0 0.0 0.227"/>
      <parent link="right_base_link"/>
      <child link="right_gripper_center"/>
  </joint>


</robot>