<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content ecee0f718ea4fe2a -->
<robot name="r2">
  <link name="r2/world_ref" />
  <joint name="r2/fixed/world_ref/robot_world" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/world_ref" />
    <child link="r2/robot_world" />
  </joint>
  <link name="r2/robot_world">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/robot_world/robot_base" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 3.14159 3.14159" />
    <parent link="r2/robot_world" />
    <child link="r2/robot_base" />
  </joint>
  <link name="r2/robot_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0" />
  </material>
  <material name="dirty_white">
    <color rgba="0.322 0.322 0.322 1.0" />
  </material>
  <material name="gold">
    <color rgba="0.878 0.49 0.008 1.0" />
  </material>
  <material name="steel">
    <color rgba="0.7 0.7 0.7 1.0" />
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0" />
  </material>
  <joint name="r2/fixed/robot_base/waist_mass" type="fixed">
    <origin xyz="0.0 0.0 -0.086855" rpy="0.0 0.0 0.0" />
    <parent link="r2/robot_base" />
    <child link="r2/waist_mass" />
  </joint>
  <link name="r2/waist_mass">
    <inertial>
      <origin xyz="-0.00012809088 4.1480778e-05 0.039080994" rpy="0.0 0.0 0.0" />
      <mass value="4.6259465" />
      <inertia ixx="0.01684448" ixy="0.00021529806" ixz="-3.6013959e-06" iyy="0.017313387" iyz="0.0" izz="0.028769348" />
    </inertial>
  </link>
  <joint name="r2/waist/joint0" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/robot_base" />
    <child link="r2/waist_center" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-3.14" upper="3.14" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/waist_center">
    <visual>
      <origin xyz="0.02 0.05 -0.5625" rpy="-1.5708 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Body.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.02 0.05 -0.5625" rpy="-1.5708 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Body.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.020473299 0.0039268948 -0.36456539" rpy="0.0 0.0 0.0" />
      <mass value="47.770842" />
      <inertia ixx="1.9926945" ixy="-0.0069480619" ixz="-0.059104048" iyy="1.8449528" iyz="0.01958974" izz="0.69736445" />
    </inertial>
  </link>
  <joint name="r2/fixed/waist_center/robot_reference" type="fixed">
    <origin xyz="0.1234 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/waist_center" />
    <child link="r2/robot_reference" />
  </joint>
  <joint name="r2/fixed/waist_center/body_cover" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/waist_center" />
    <child link="r2/body_cover" />
  </joint>
  <joint name="r2/fixed/waist_center/backpack" type="fixed">
    <origin xyz="-0.145521 0.0 -0.421894" rpy="0.0 0.0 0.0" />
    <parent link="r2/waist_center" />
    <child link="r2/backpack" />
  </joint>
  <joint name="r2/fixed/waist_center/left_shoulder_jr3" type="fixed">
    <origin xyz="-0.0240898 -0.0996837 -0.413899" rpy="0.0 0.0 1.8326" />
    <parent link="r2/waist_center" />
    <child link="r2/left_arm/shoulder/jr3" />
  </joint>
  <joint name="r2/fixed/waist_center/right_shoulder_jr3" type="fixed">
    <origin xyz="-0.0240898 0.0996837 -0.413899" rpy="0.0 0.0 -1.83259" />
    <parent link="r2/waist_center" />
    <child link="r2/right_arm/shoulder/jr3" />
  </joint>
  <link name="r2/robot_reference">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <link name="r2/body_cover">
    <visual>
      <origin xyz="0.02 0.05 -0.5625" rpy="-1.5708 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Body_Cover.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.02 0.05 -0.5625" rpy="-1.5708 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Body_Cover.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/backpack">
    <visual>
      <origin xyz="0.145521 0.0 -0.118106" rpy="0.0 0.0 0.25" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Backpack.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.145521 0.0 -0.118106" rpy="0.0 0.0 0.25" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Backpack.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.068110236 0.00026288234 -0.015523324" rpy="0.0 0.0 0.0" />
      <mass value="23.505356" />
      <inertia ixx="0.87608758" ixy="0.0031949152" ixz="-0.0042079052" iyy="0.57168416" iyz="0.0067562903" izz="0.41612859" />
    </inertial>
  </link>
  <link name="r2/left_arm/shoulder/jr3">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <link name="r2/right_arm/shoulder/jr3">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <link name="r2/imu">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/robot_base/imu" type="fixed">
    <origin xyz="0.017351 -0.116179 -0.112236" rpy="1.5708 0.0 0.0" />
    <parent link="r2/waist_center" />
    <child link="r2/imu" />
  </joint>
  <joint name="r2/neck/joint0" type="revolute">
    <origin xyz="0.08636 -0.0285749 -0.614172" rpy="-1.5708 0.0 0.0" />
    <parent link="r2/waist_center" />
    <child link="r2/neck_lower" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000.0" velocity="1000.0" lower="-0.7" upper="0.175" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/neck_lower">
    <visual>
      <origin xyz="0.0 0.0 0.0285749" rpy="-1.5708 1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Neck_Lower.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0285749" rpy="-1.5708 1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Neck_Lower.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.044614256 0.031785824 0.021419445" rpy="0.0 0.0 0.0" />
      <mass value="1.531125" />
      <inertia ixx="0.0032988044" ixy="0.0014889073" ixz="0.0004970659" iyy="0.0050478224" iyz="-0.00036827305" izz="0.0052160286" />
    </inertial>
  </link>
  <joint name="r2/neck/joint1" type="revolute">
    <origin xyz="-0.0762002 0.0762004 0.028575" rpy="-1.5708 0.0 0.0" />
    <parent link="r2/neck_lower" />
    <child link="r2/neck_upper" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000.0" velocity="1000.0" lower="-1.22" upper="1.22" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/neck_upper">
    <visual>
      <origin xyz="0.0762002 0.0 -0.0762004" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Neck_Upper.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0762002 0.0 -0.0762004" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Neck_Upper.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0127259 0.0072291452 0.048896507" rpy="0.0 0.0 0.0" />
      <mass value="2.234558" />
      <inertia ixx="0.0074125667" ixy="-0.00042898316" ixz="-0.0014528455" iyy="0.0080268117" iyz="-0.00076230267" izz="0.00051467581" />
    </inertial>
  </link>
  <joint name="r2/neck/joint2" type="revolute">
    <origin xyz="0.0508 0.0074676 0.101587" rpy="1.5708 0.0 0.0" />
    <parent link="r2/neck_upper" />
    <child link="r2/head" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000.0" velocity="1000.0" lower="-0.7" upper="0.175" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/head">
    <visual>
      <origin xyz="0.0 0.07 0.0074676" rpy="0.0 1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Head.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.07 0.0074676" rpy="0.0 1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Head.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0048289919 0.074486518 0.013796703" rpy="0.0 0.0 0.0" />
      <mass value="5.8503785" />
      <inertia ixx="0.045520172" ixy="0.0076844267" ixz="0.0005272352" iyy="0.035519354" iyz="0.001323319" izz="0.044699541" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_base" type="fixed">
    <origin xyz="0.0 -0.058 0.0074676" rpy="1.5708 0.0 0.0" />
    <parent link="r2/head" />
    <child link="r2/head/vision_base" />
  </joint>
  <link name="r2/head/vision_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_base/asus_frame" type="fixed">
    <origin xyz="0.12 -0.015 -0.14" rpy="-3.142 -0.071 0.0" />
    <parent link="r2/head/vision_base" />
    <child link="r2/head/asus_frame" />
  </joint>
  <link name="r2/head/asus_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/asus_frame/asus_depth_frame" type="fixed">
    <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/head/asus_frame" />
    <child link="r2/head/asus_depth_frame" />
  </joint>
  <link name="r2/head/asus_depth_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_base/vision_center_frame" type="fixed">
    <origin xyz="0.066675 0.0 -0.116205" rpy="1.5708 -1.5708 1.5708" />
    <parent link="r2/head/vision_base" />
    <child link="r2/head/vision_center_frame" />
  </joint>
  <link name="r2/head/vision_center_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_center_frame/left_camera_frame" type="fixed">
    <origin xyz="0.0087 0.04887 0.01789" rpy="0.0 0.0 0.0" />
    <parent link="r2/head/vision_center_frame" />
    <child link="r2/head/left_camera_frame" />
  </joint>
  <link name="r2/head/left_camera_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_center_frame/left_camera_frame/left_camera" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5708" />
    <parent link="r2/head/left_camera_frame" />
    <child link="r2/head/grasshopper/left_camera" />
  </joint>
  <link name="r2/head/grasshopper/left_camera">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_center_frame/right_camera_frame" type="fixed">
    <origin xyz="0.0087 -0.04887 0.01789" rpy="0.0 0.0 0.0" />
    <parent link="r2/head/vision_center_frame" />
    <child link="r2/head/right_camera_frame" />
  </joint>
  <link name="r2/head/right_camera_frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/head/vision_center_frame/right_camera_frame/right_camera" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5708" />
    <parent link="r2/head/right_camera_frame" />
    <child link="r2/head/grasshopper/right_camera" />
  </joint>
  <link name="r2/head/grasshopper/right_camera">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/joint0" type="revolute">
    <origin xyz="0.0054611 0.0 -0.13041" rpy="0.0 -1.5708 0.0" />
    <parent link="r2/left_arm/shoulder/jr3" />
    <child link="r2/left_shoulder_roll" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-2.827" upper="2.827" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/left_shoulder_roll">
    <visual>
      <origin xyz="0.0 0.0 -0.01274" rpy="0.0 0.0 3.1416" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Shoulder_Upper.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.01274" rpy="0.0 0.0 3.1416" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Shoulder_Upper.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00017093234 -0.0087284787 -0.10884506" />
      <mass value="7.070314" />
      <inertia ixx="0.076584602" ixy="8.6319951e-05" ixz="0.00054609047" iyy="0.08016999" iyz="0.0066841031" izz="0.02390013" />
    </inertial>
  </link>
  <joint name="r2/left_arm/joint1" type="revolute">
    <origin xyz="0.0 0.0466596 0.210022" rpy="0.0 -1.5708 1.5708" />
    <parent link="r2/left_shoulder_roll" />
    <child link="r2/left_shoulder_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-1.6758" upper="0.4292" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/left_shoulder_pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0466596" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Shoulder_Lower.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0466596" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Shoulder_Lower.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.034871718 0.00026989995 -0.056391797" />
      <mass value="4.7275387" />
      <inertia ixx="0.01281093" ixy="-2.5211205e-05" ixz="-0.0019887882" iyy="0.026994354" iyz="-5.6988895e-05" izz="0.028670313" />
    </inertial>
  </link>
  <joint name="r2/left_arm/joint2" type="revolute">
    <origin xyz="0.169324 0.0 0.0458976" rpy="-1.5708 0.0 -1.5708" />
    <parent link="r2/left_shoulder_pitch" />
    <child link="r2/left_upper_arm" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-4.5028" upper="-0.3318" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/left_upper_arm">
    <visual>
      <origin xyz="0.0 0.0 -0.067724" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Upper_Arm.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.067724" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Upper_Arm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.011979384 -0.0073390714 0.079871897" />
      <mass value="4.9025709" />
      <inertia ixx="0.04403619" ixy="0.0013812407" ixz="-0.0068318982" iyy="0.048358309" iyz="0.0035598559" izz="0.016564943" />
    </inertial>
  </link>
  <joint name="r2/left_arm/joint3" type="revolute">
    <origin xyz="0.05334 0.0313243 0.185006" rpy="0.0 -1.5708 1.5708" />
    <parent link="r2/left_upper_arm" />
    <child link="r2/left_elbow" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-2.793" upper="0.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/left_elbow">
    <visual>
      <origin xyz="0.0 0.0 0.0313243" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Elbow.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0313243" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Elbow.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03539863 0.025517855 -0.036241795" />
      <mass value="2.3377006" />
      <inertia ixx="0.0067529558" ixy="-0.0026092481" ixz="-0.00060380235" iyy="0.008098722" iyz="-0.00047453566" izz="0.009863562" />
    </inertial>
  </link>
  <joint name="r2/left_arm/joint4" type="revolute">
    <origin xyz="0.0541223 0.05333 0.0305397" rpy="-0.955 1.5708 -0.955" />
    <parent link="r2/left_elbow" />
    <child link="r2/left_joint4_output" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-1.536" upper="4.677" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/left_joint4_output">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_lower_arm/left_forearm_jr3" type="fixed">
    <origin xyz="0.0 0.0 0.0897574" rpy="3.1416 0.0 0.78539" />
    <parent link="r2/left_joint4_output" />
    <child link="r2/left_arm/forearm/jr3" />
  </joint>
  <link name="r2/left_arm/forearm/jr3">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_lower_arm/left_forearm" type="fixed">
    <origin xyz="0.0 0.0 0.0897574" rpy="3.1416 0.0 0.7854" />
    <parent link="r2/left_arm/forearm/jr3" />
    <child link="r2/left_lower_arm" />
  </joint>
  <link name="r2/left_lower_arm">
    <visual>
      <origin xyz="0.0 0.0 0.0458777" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Forearm.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0458777" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Forearm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0039950818 0.00044312736 0.16275601" />
      <mass value="8.1525875" />
      <inertia ixx="0.10706156" ixy="0.00070538028" ixz="-0.0061176777" iyy="0.11007507" iyz="0.0020551081" izz="0.015240452" />
    </inertial>
  </link>
  <joint name="r2/left_arm/wrist/pitch" type="revolute">
    <origin xyz="0.00061651 0.0 0.301768" rpy="0.0 -1.5708 0.0" />
    <parent link="r2/left_lower_arm" />
    <child link="r2/left_wrist_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-0.8" upper="0.8" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/left_wrist_pitch">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/wrist/yaw" type="revolute">
    <origin xyz="0.00635 0.0 0.00041451" rpy="1.5708 0.0646 -0.0802" />
    <parent link="r2/left_wrist_pitch" />
    <child link="r2/left_wrist_yaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-0.75" upper="0.15" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/left_wrist_yaw">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_wrist_yaw/left_palm" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_wrist_yaw" />
    <child link="r2/left_palm" />
  </joint>
  <link name="r2/left_palm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Palm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Palm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/thumb/roll" type="revolute">
    <origin xyz="0.03302 0.03048 0.00635" rpy="-1.5708 0.0 1.30899702752" />
    <parent link="r2/left_wrist_yaw" />
    <child link="r2/left_thumb_base" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/fixed/left_index_base/left_index_base" type="fixed">
    <origin xyz="0.0994646728 0.0271119346 -0.0161544" rpy="0.0 0.0 0.122172725275" />
    <parent link="r2/left_wrist_yaw" />
    <child link="r2/left_index_base" />
  </joint>
  <joint name="r2/left_arm/hand/index/yaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_index_base" />
    <child link="r2/left_index_yaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/fixed/left_middle_base/left_middle_base" type="fixed">
    <origin xyz="0.10646537 0.00254 -0.0161544" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_wrist_yaw" />
    <child link="r2/left_middle_base" />
  </joint>
  <joint name="r2/left_arm/hand/middle/yaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_middle_base" />
    <child link="r2/left_middle_yaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/left_arm/hand/ringlittle/ring" type="revolute">
    <origin xyz="0.1084570602 -0.0197673468 -0.012319" rpy="1.5708 -0.0 -0.122172725275" />
    <parent link="r2/left_wrist_yaw" />
    <child link="r2/left_ring_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/left_arm/hand/ringlittle/little" type="revolute">
    <origin xyz="0.094635701 -0.0403792436 -0.0060878212" rpy="1.60570321374 -0.0872667473393 -0.17453258148" />
    <parent link="r2/left_wrist_yaw" />
    <child link="r2/left_little_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_thumb_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_thumb_base/left_thumb_proximal" type="fixed">
    <origin xyz="0.011938 0.0 0.0" rpy="-1.5708 -0.0 0.0" />
    <parent link="r2/left_thumb_base" />
    <child link="r2/left_thumb_proximal" />
  </joint>
  <link name="r2/left_thumb_proximal">
    <visual>
      <origin xyz="-0.01 0.0 0.0" rpy="-1.5708 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.01 0.0 0.0" rpy="-1.5708 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/thumb/proximal" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_thumb_proximal" />
    <child link="r2/left_thumb_medial_prime" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_thumb_medial_prime">
    <visual>
      <origin xyz="-0.0 0.0 0.0" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Thumb_MtCar.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Thumb_MtCar.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/thumb/medial" type="revolute">
    <origin xyz="0.030734 -0.001905 0.00254" rpy="-0.698132284627 -0.0 0.0" />
    <parent link="r2/left_thumb_medial_prime" />
    <child link="r2/left_thumb_medial" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_thumb_medial">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/thumb/distal" type="revolute">
    <origin xyz="0.03937 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_thumb_medial" />
    <child link="r2/left_thumb_distal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_thumb_distal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 3.1416 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Dist.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 3.1416 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Dist.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_thumb_distal/left_thumb_tip" type="fixed">
    <origin xyz="0.03302 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_thumb_distal" />
    <child link="r2/left_thumb_tip" />
  </joint>
  <link name="r2/left_thumb_tip">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/left_index_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/left_index_yaw">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/index/proximal" type="revolute">
    <origin xyz="0.009652 0.0 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="r2/left_index_yaw" />
    <child link="r2/left_index_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_index_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/index/medial" type="revolute">
    <origin xyz="0.04445 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_index_proximal" />
    <child link="r2/left_index_medial" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_index_medial">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/left_middle_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/left_middle_yaw">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/middle/proximal" type="revolute">
    <origin xyz="0.009652 0.0 0.0" rpy="1.5708 0.0 0.0" />
    <parent link="r2/left_middle_yaw" />
    <child link="r2/left_middle_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_middle_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/left_arm/hand/middle/medial" type="revolute">
    <origin xyz="0.04445 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_middle_proximal" />
    <child link="r2/left_middle_medial" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/left_middle_medial">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/left_ring_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/left_little_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/joint0" type="revolute">
    <origin xyz="0.0054611 0.0 -0.13041" rpy="0.0 -1.5708 0.0" />
    <parent link="r2/right_arm/shoulder/jr3" />
    <child link="r2/right_shoulder_roll" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-2.827" upper="2.827" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/right_shoulder_roll">
    <visual>
      <origin xyz="0.0 0.0 -0.07734" rpy="0.0 0.0 -2.4624" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Shoulder_Upper.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.07234" rpy="0.0 0.0 -2.4624" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Shoulder_Upper.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00017093234 -0.0087284787 -0.10884506" />
      <mass value="7.070314" />
      <inertia ixx="0.076584602" ixy="8.6319951e-05" ixz="0.00054609047" iyy="0.08016999" iyz="0.0066841031" izz="0.02390013" />
    </inertial>
  </link>
  <joint name="r2/right_arm/joint1" type="revolute">
    <origin xyz="0.0 -0.0466596 0.210022" rpy="0.0 -1.5708 1.5708" />
    <parent link="r2/right_shoulder_roll" />
    <child link="r2/right_shoulder_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-1.6758" upper="0.4292" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/right_shoulder_pitch">
    <visual>
      <origin xyz="0.0 0.0 -0.0466596" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Shoulder_Lower.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.0466596" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Shoulder_Lower.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.034871718 0.00026989995 -0.056391797" />
      <mass value="4.7275387" />
      <inertia ixx="0.01281093" ixy="-2.5211205e-05" ixz="-0.0019887882" iyy="0.026994354" iyz="-5.6988895e-05" izz="0.028670313" />
    </inertial>
  </link>
  <joint name="r2/right_arm/joint2" type="revolute">
    <origin xyz="0.169324 0.0 -0.0458976" rpy="-1.5708 0.0 -1.5708" />
    <parent link="r2/right_shoulder_pitch" />
    <child link="r2/right_upper_arm" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="0.3318" upper="4.5028" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/right_upper_arm">
    <visual>
      <origin xyz="0.0 0.0 -0.067724" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Upper_Arm.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.067724" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Upper_Arm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.011979384 -0.0073390714 0.079871897" />
      <mass value="4.9025709" />
      <inertia ixx="0.04403619" ixy="0.0013812407" ixz="-0.0068318982" iyy="0.048358309" iyz="0.0035598559" izz="0.016564943" />
    </inertial>
  </link>
  <joint name="r2/right_arm/joint3" type="revolute">
    <origin xyz="0.05334 -0.0313243 0.185006" rpy="0.0 -1.5708 1.5708" />
    <parent link="r2/right_upper_arm" />
    <child link="r2/right_elbow" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-2.793" upper="0.0" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/right_elbow">
    <visual>
      <origin xyz="0.0 0.0 -0.0313243" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Elbow.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.0313243" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Elbow.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03539863 0.025517855 -0.036241795" />
      <mass value="2.3377006" />
      <inertia ixx="0.0067529558" ixy="-0.0026092481" ixz="-0.00060380235" iyy="0.008098722" iyz="-0.00047453566" izz="0.009863562" />
    </inertial>
  </link>
  <joint name="r2/right_arm/joint4" type="revolute">
    <origin xyz="0.0541223 0.05333 -0.0305397" rpy="-0.955 1.5708 -0.955" />
    <parent link="r2/right_elbow" />
    <child link="r2/right_joint4_output" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-4.677" upper="1.536" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/right_joint4_output">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_lower_arm/right_forearm_jr3" type="fixed">
    <origin xyz="0.0 0.0 0.0897574" rpy="3.1416 0.0 0.78539" />
    <parent link="r2/right_joint4_output" />
    <child link="r2/right_arm/forearm/jr3" />
  </joint>
  <link name="r2/right_arm/forearm/jr3">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_lower_arm/right_forearm" type="fixed">
    <origin xyz="0.0 0.0 0.0897574" rpy="3.1416 0.0 0.7854" />
    <parent link="r2/right_arm/forearm/jr3" />
    <child link="r2/right_lower_arm" />
  </joint>
  <link name="r2/right_lower_arm">
    <visual>
      <origin xyz="0.0 0.0 0.0458777" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Forearm.dae" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0458777" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Forearm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0039950818 0.00044312736 0.16275601" />
      <mass value="8.1525875" />
      <inertia ixx="0.10706156" ixy="0.00070538028" ixz="-0.0061176777" iyy="0.11007507" iyz="0.0020551081" izz="0.015240452" />
    </inertial>
  </link>
  <joint name="r2/right_arm/wrist/pitch" type="revolute">
    <origin xyz="-0.00061651 0.0 0.301768" rpy="0.0 -1.5708 0.0" />
    <parent link="r2/right_lower_arm" />
    <child link="r2/right_wrist_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-0.8" upper="0.8" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/right_wrist_pitch">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/wrist/yaw" type="revolute">
    <origin xyz="0.00635 0.0 -0.00041451" rpy="1.5708 0.0646 -0.0802" />
    <parent link="r2/right_wrist_pitch" />
    <child link="r2/right_wrist_yaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="100.0" velocity="1000.0" lower="-0.15" upper="0.75" />
    <dynamics damping="1.0" friction="0.0" />
  </joint>
  <link name="r2/right_wrist_yaw">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_wrist_yaw/right_palm" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_wrist_yaw" />
    <child link="r2/right_palm" />
  </joint>
  <link name="r2/right_palm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Palm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Palm.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/thumb/roll" type="revolute">
    <origin xyz="0.03302 -0.03048 0.00635" rpy="1.5708 0.174532791018 -1.30899687745" />
    <parent link="r2/right_wrist_yaw" />
    <child link="r2/right_thumb_base" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/fixed/right_index_base/right_index_base" type="fixed">
    <origin xyz="0.0994646728 -0.0271119346 -0.0161544" rpy="0.0 0.0 -0.122172725275" />
    <parent link="r2/right_wrist_yaw" />
    <child link="r2/right_index_base" />
  </joint>
  <joint name="r2/right_arm/hand/index/yaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_index_base" />
    <child link="r2/right_index_yaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/fixed/right_middle_base/right_middle_base" type="fixed">
    <origin xyz="0.10646537 -0.00254 -0.0161544" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_wrist_yaw" />
    <child link="r2/right_middle_base" />
  </joint>
  <joint name="r2/right_arm/hand/middle/yaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_middle_base" />
    <child link="r2/right_middle_yaw" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/right_arm/hand/ringlittle/ring" type="revolute">
    <origin xyz="0.1084539614 0.019792569 -0.012319" rpy="1.57079632679 -0.0 0.122172725275" />
    <parent link="r2/right_wrist_yaw" />
    <child link="r2/right_ring_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="r2/right_arm/hand/ringlittle/little" type="revolute">
    <origin xyz="0.094635701 0.0403792436 -0.0060878212" rpy="1.53588943985 -0.0872667473393 0.17453258148" />
    <parent link="r2/right_wrist_yaw" />
    <child link="r2/right_little_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_thumb_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_thumb_base/right_thumb_proximal" type="fixed">
    <origin xyz="0.011938 0.0 0.0" rpy="-1.5708 -0.0 0.0" />
    <parent link="r2/right_thumb_base" />
    <child link="r2/right_thumb_proximal" />
  </joint>
  <link name="r2/right_thumb_proximal">
    <visual>
      <origin xyz="-0.01 0.0 0.0" rpy="-1.5708 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.01 0.0 0.0" rpy="-1.5708 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Left_Thumb_Carp.dae" scale="0.9 0.9 0.9" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/thumb/proximal" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_thumb_proximal" />
    <child link="r2/right_thumb_medial_prime" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_thumb_medial_prime">
    <visual>
      <origin xyz="-0.0 0.0 0.0" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Thumb_MtCar.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="-0.0 0.0 0.0" rpy="-1.5708 -1.5708 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Right_Thumb_MtCar.dae" scale="0.9 0.9 0.9" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/thumb/medial" type="revolute">
    <origin xyz="0.030734 -0.001905 -0.00254" rpy="0.698132284627 0.0 0.0" />
    <parent link="r2/right_thumb_medial_prime" />
    <child link="r2/right_thumb_medial" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_thumb_medial">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/thumb/distal" type="revolute">
    <origin xyz="0.03937 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_thumb_medial" />
    <child link="r2/right_thumb_distal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_thumb_distal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 3.1416 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Dist.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 3.1416 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Thumb_Dist.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_thumb_distal/right_thumb_tip" type="fixed">
    <origin xyz="0.03302 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_thumb_distal" />
    <child link="r2/right_thumb_tip" />
  </joint>
  <link name="r2/right_thumb_tip">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/right_index_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/right_index_yaw">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/index/proximal" type="revolute">
    <origin xyz="0.009652 0.0 0.0" rpy="1.5708 -0.0 0.0" />
    <parent link="r2/right_index_yaw" />
    <child link="r2/right_index_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_index_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/index/medial" type="revolute">
    <origin xyz="0.04445 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_index_proximal" />
    <child link="r2/right_index_medial" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_index_medial">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/right_middle_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/right_middle_yaw">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/middle/proximal" type="revolute">
    <origin xyz="0.009652 0.0 0.0" rpy="1.5708 -0.0 0.0" />
    <parent link="r2/right_middle_yaw" />
    <child link="r2/right_middle_proximal" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_middle_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" scale="0.9 0.9 0.9" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <joint name="r2/right_arm/hand/middle/medial" type="revolute">
    <origin xyz="0.04445 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_middle_proximal" />
    <child link="r2/right_middle_medial" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10000000.0" velocity="1000.0" lower="-4.0" upper="4.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="r2/right_middle_medial">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="3.1416 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Mid.dae" scale="0.9 0.9 0.9" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/right_ring_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" scale="0.9 0.9 0.9" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/right_little_proximal">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2_upperbody/Finger_Proximal.dae" scale="0.9 0.9 0.9" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.05" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
    </inertial>
  </link>
  <link name="r2/pelvis">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_pelvis.dae" />
      </geometry>
      <material name="gold" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_pelvis.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.909e-05 0.0 -0.008524" rpy="0.0 0.0 0.0" />
      <mass value="12.2831" />
      <inertia ixx="0.10679" ixy="9.239e-05" ixz="-2.105e-05" iyy="0.05595" iyz="0.0" izz="0.1022" />
    </inertial>
  </link>
  <joint name="r2/fixed/robot_base/pelvis" type="fixed">
    <origin xyz="0.0 0.0 0.098" rpy="0.0 3.14159 0.0" />
    <parent link="r2/robot_base" />
    <child link="r2/pelvis" />
  </joint>
  <joint name="r2/fixed/pelvis/left_leg_base" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.570796" />
    <parent link="r2/pelvis" />
    <child link="r2/left_leg_base" />
  </joint>
  <link name="r2/left_leg_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_leg_base/left_leg_j0_base" type="fixed">
    <origin xyz="-0.11049 0.0 -0.029718" rpy="0.0 1.8325957 3.14159" />
    <parent link="r2/left_leg_base" />
    <child link="r2/left_leg_j0_base" />
  </joint>
  <link name="r2/left_leg_j0_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint0" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_leg_j0_base" />
    <child link="r2/left_hip_roll" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/left_hip_roll">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone3.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03372 -0.02428 0.07903" rpy="0.0 0.0 0.0" />
      <mass value="2.541" />
      <inertia ixx="0.006434" ixy="0.0007087" ixz="-0.001543" iyy="0.009325" iyz="0.0008694" izz="0.006904" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint1" type="revolute">
    <origin xyz="0.050629765 0.002286 0.103498576" rpy="-1.570796 -0.2617994 0.0" />
    <parent link="r2/left_hip_roll" />
    <child link="r2/left_hip_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-1.42244" upper="1.20427" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/left_hip_pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0945 -0.03354 0.008185" rpy="0.0 0.0 0.0" />
      <mass value="4.6734" />
      <inertia ixx="0.01002" ixy="0.007194" ixz="0.002041" iyy="0.03307" iyz="-0.0007281" izz="0.03728" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint2" type="revolute">
    <origin xyz="0.2 -0.05 0.004" rpy="1.570796 0.0 1.570796" />
    <parent link="r2/left_hip_pitch" />
    <child link="r2/left_upper_leg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/left_upper_leg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01485 -0.02188 0.09676" rpy="0.0 0.0 0.0" />
      <mass value="3.7745" />
      <inertia ixx="0.02163" ixy="-0.001453" ixz="0.003137" iyy="0.01832" iyz="0.004738" izz="0.009798" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint3" type="revolute">
    <origin xyz="-0.002 -0.05 0.157" rpy="0.0 -1.570796 3.14159" />
    <parent link="r2/left_upper_leg" />
    <child link="r2/left_knee" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-0.10472" upper="2.68781" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/left_knee">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0945 -0.03354 0.008185" rpy="0.0 0.0 0.0" />
      <mass value="4.6734" />
      <inertia ixx="0.01002" ixy="0.007194" ixz="0.002041" iyy="0.03307" iyz="-0.0007281" izz="0.03728" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint4" type="revolute">
    <origin xyz="0.2 -0.05 0.004" rpy="0.0 1.570796 0.0" />
    <parent link="r2/left_knee" />
    <child link="r2/left_lower_leg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/left_lower_leg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01485 -0.02188 0.09676" rpy="0.0 0.0 0.0" />
      <mass value="3.7745" />
      <inertia ixx="0.02163" ixy="-0.001453" ixz="0.003137" iyy="0.01832" iyz="0.004738" izz="0.009798" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint5" type="revolute">
    <origin xyz="-0.002 -0.05 0.157" rpy="0.0 -1.570796 3.14159" />
    <parent link="r2/left_lower_leg" />
    <child link="r2/left_ankle_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-0.10472" upper="2.68781" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/left_ankle_pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0945 -0.03354 0.008185" rpy="0.0 0.0 0.0" />
      <mass value="4.6734" />
      <inertia ixx="0.01002" ixy="0.007194" ixz="0.002041" iyy="0.03307" iyz="-0.0007281" izz="0.03728" />
    </inertial>
  </link>
  <joint name="r2/left_leg/joint6" type="revolute">
    <origin xyz="0.199643 -0.0508 0.00325" rpy="3.14159 -1.570796 0.0" />
    <parent link="r2/left_ankle_pitch" />
    <child link="r2/left_ankle_roll" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/left_ankle_roll">
    <visual>
      <origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.06" radius="0.066" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.06" radius="0.066" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-4.402e-05 0.0001052 0.0294" rpy="0.0 0.0 0.0" />
      <mass value="1.4461" />
      <inertia ixx="0.00178" ixy="1.801e-05" ixz="2.218e-07" iyy="0.001767" iyz="6.717e-07" izz="0.002949" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_ankle_roll/left_leg_ati" type="fixed">
    <origin xyz="0.0 0.0 0.070182" rpy="3.1416 0.0 -1.5708" />
    <parent link="r2/left_ankle_roll" />
    <child link="r2/left_leg/ati" />
  </joint>
  <link name="r2/left_leg/ati">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_leg_ati/left_leg_foot" type="fixed">
    <origin xyz="0.0 0.0 0.0206502" rpy="3.1416 0.0 -1.5708" />
    <parent link="r2/left_leg/ati" />
    <child link="r2/left_leg_foot" />
  </joint>
  <link name="r2/left_leg_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/foot_body.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/foot_body.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0015 -0.00021835 0.08493" rpy="0.0 0.0 0.0" />
      <mass value="4.63812" />
      <inertia ixx="0.01951" ixy="-0.00030332" ixz="-0.00011945" iyy="0.017896" iyz="-0.000689634" izz="0.010101" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_leg_foot/left_hr_tip" type="fixed">
    <origin xyz="0.0 0.0 0.19451" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_leg_foot" />
    <child link="r2/left_leg/gripper/tip" />
  </joint>
  <link name="r2/left_leg/gripper/tip">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_leg_foot/left_st_tip" type="fixed">
    <origin xyz="0.0 0.0 0.21991" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_leg_foot" />
    <child link="r2/left_leg/gripper/st_tip" />
  </joint>
  <link name="r2/left_leg/gripper/st_tip">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_leg_foot/left_leg_nano_physical" type="fixed">
    <origin xyz="-0.025 0.07 0.13" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_leg_foot" />
    <child link="r2/left_leg/nano_physical" />
  </joint>
  <link name="r2/left_leg/nano_physical">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/left_leg_foot/left_leg_flea_physical" type="fixed">
    <origin xyz="0.025 0.07 0.13" rpy="0.0 0.0 0.0" />
    <parent link="r2/left_leg_foot" />
    <child link="r2/left_leg/flea_physical" />
  </joint>
  <link name="r2/left_leg/flea_physical">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/pelvis/right_leg_base" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 1.570796" />
    <parent link="r2/pelvis" />
    <child link="r2/right_leg_base" />
  </joint>
  <link name="r2/right_leg_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_leg_base/right_leg_j0_base" type="fixed">
    <origin xyz="0.11049 0.0 -0.029718" rpy="0.0 1.8325957 0.0" />
    <parent link="r2/right_leg_base" />
    <child link="r2/right_leg_j0_base" />
  </joint>
  <link name="r2/right_leg_j0_base">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint0" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_leg_j0_base" />
    <child link="r2/right_hip_roll" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="10.0" friction="0.0" />
  </joint>
  <link name="r2/right_hip_roll">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone3.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.03372 -0.02428 0.07903" rpy="0.0 0.0 0.0" />
      <mass value="2.541" />
      <inertia ixx="0.006434" ixy="0.0007087" ixz="-0.001543" iyy="0.009325" iyz="0.0008694" izz="0.006904" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint1" type="revolute">
    <origin xyz="0.050629765 -0.002286 0.103498576" rpy="-1.570796 -0.2617994 0.0" />
    <parent link="r2/right_hip_roll" />
    <child link="r2/right_hip_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-1.42244" upper="1.20427" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/right_hip_pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0945 -0.03354 0.008185" rpy="0.0 0.0 0.0" />
      <mass value="4.6734" />
      <inertia ixx="0.01002" ixy="0.007194" ixz="0.002041" iyy="0.03307" iyz="-0.0007281" izz="0.03728" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint2" type="revolute">
    <origin xyz="0.2 -0.05 0.004" rpy="-1.570796 0.0 -1.570796" />
    <parent link="r2/right_hip_pitch" />
    <child link="r2/right_upper_leg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/right_upper_leg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01485 -0.02188 0.09676" rpy="0.0 0.0 0.0" />
      <mass value="3.7745" />
      <inertia ixx="0.02163" ixy="-0.001453" ixz="0.003137" iyy="0.01832" iyz="0.004738" izz="0.009798" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint3" type="revolute">
    <origin xyz="-0.002 -0.05 0.157" rpy="0.0 -1.570796 3.14159" />
    <parent link="r2/right_upper_leg" />
    <child link="r2/right_knee" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-0.10472" upper="2.68781" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/right_knee">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0945 -0.03354 0.008185" rpy="0.0 0.0 0.0" />
      <mass value="4.6734" />
      <inertia ixx="0.01002" ixy="0.007194" ixz="0.002041" iyy="0.03307" iyz="-0.0007281" izz="0.03728" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint4" type="revolute">
    <origin xyz="0.2 -0.05 0.004" rpy="0.0 1.570796 0.0" />
    <parent link="r2/right_knee" />
    <child link="r2/right_lower_leg" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/right_lower_leg">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.01485 -0.02188 0.09676" rpy="0.0 0.0 0.0" />
      <mass value="3.7745" />
      <inertia ixx="0.02163" ixy="-0.001453" ixz="0.003137" iyy="0.01832" iyz="0.004738" izz="0.009798" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint5" type="revolute">
    <origin xyz="-0.002 -0.05 0.157" rpy="0.0 -1.570796 3.14159" />
    <parent link="r2/right_lower_leg" />
    <child link="r2/right_ankle_pitch" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-0.10472" upper="2.68781" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/right_ankle_pitch">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/r2cl_ext_bone1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0945 -0.03354 0.008185" rpy="0.0 0.0 0.0" />
      <mass value="4.6734" />
      <inertia ixx="0.01002" ixy="0.007194" ixz="0.002041" iyy="0.03307" iyz="-0.0007281" izz="0.03728" />
    </inertial>
  </link>
  <joint name="r2/right_leg/joint6" type="revolute">
    <origin xyz="0.199643 -0.0508 0.00325" rpy="3.14159 -1.570796 0.0" />
    <parent link="r2/right_ankle_pitch" />
    <child link="r2/right_ankle_roll" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="1.0" lower="-3.14159" upper="3.14159" />
    <dynamics damping="5.0" friction="0.0" />
  </joint>
  <link name="r2/right_ankle_roll">
    <visual>
      <origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.06" radius="0.066" />
      </geometry>
      <material name="dirty_white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.025" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.06" radius="0.066" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-4.402e-05 0.0001052 0.0294" rpy="0.0 0.0 0.0" />
      <mass value="1.4461" />
      <inertia ixx="0.00178" ixy="1.801e-05" ixz="2.218e-07" iyy="0.001767" iyz="6.717e-07" izz="0.002949" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_ankle_roll/right_leg_ati" type="fixed">
    <origin xyz="0.0 0.0 0.070182" rpy="3.1416 0.0 -1.5708" />
    <parent link="r2/right_ankle_roll" />
    <child link="r2/right_leg/ati" />
  </joint>
  <link name="r2/right_leg/ati">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_leg_ati/right_leg_foot" type="fixed">
    <origin xyz="0.0 0.0 0.0206502" rpy="3.1416 0.0 -1.5708" />
    <parent link="r2/right_leg/ati" />
    <child link="r2/right_leg_foot" />
  </joint>
  <link name="r2/right_leg_foot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/foot_body.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 -1.5708" />
      <geometry>
        <mesh filename="package://r2_description/meshes/r2c_legs/foot_body.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0015 -0.00021835 0.08493" rpy="0.0 0.0 0.0" />
      <mass value="4.63812" />
      <inertia ixx="0.01951" ixy="-0.00030332" ixz="-0.00011945" iyy="0.017896" iyz="-0.000689634" izz="0.010101" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_leg_foot/right_hr_tip" type="fixed">
    <origin xyz="0.0 0.0 0.19451" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_leg_foot" />
    <child link="r2/right_leg/gripper/tip" />
  </joint>
  <link name="r2/right_leg/gripper/tip">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_leg_foot/right_st_tip" type="fixed">
    <origin xyz="0.0 0.0 0.21991" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_leg_foot" />
    <child link="r2/right_leg/gripper/st_tip" />
  </joint>
  <link name="r2/right_leg/gripper/st_tip">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_leg_foot/right_leg_nano_physical" type="fixed">
    <origin xyz="-0.025 0.07 0.13" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_leg_foot" />
    <child link="r2/right_leg/nano_physical" />
  </joint>
  <link name="r2/right_leg/nano_physical">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
  <joint name="r2/fixed/right_leg_foot/right_leg_flea_physical" type="fixed">
    <origin xyz="0.025 0.07 0.13" rpy="0.0 0.0 0.0" />
    <parent link="r2/right_leg_foot" />
    <child link="r2/right_leg/flea_physical" />
  </joint>
  <link name="r2/right_leg/flea_physical">
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
    </inertial>
  </link>
</robot>
