<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 4d5f57f43c58371e -->
<robot name="RB_Y1_V1.0.1">
  <link name="base">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/base.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.06157942 -0.00142271 0.13513861" rpy="0.0 0.0 0.0" />
      <mass value="60.08042639" />
      <inertia ixx="1.37742174" ixy="0.02521789" ixz="0.18565467" iyy="2.99386515" iyz="-0.00641869" izz="3.76085052" />
    </inertial>
  </link>
  <link name="wheel_r">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/WHEEL.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 -0.00073938 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.37783736" />
      <inertia ixx="0.00426657" ixy="0.0" ixz="0.0" iyy="0.00811815" iyz="0.0" izz="0.00426657" />
    </inertial>
  </link>
  <link name="wheel_l">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/WHEEL.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0 0.00073938 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1.37783736" />
      <inertia ixx="0.00426657" ixy="0.0" ixz="0.0" iyy="0.00811815" iyz="0.0" izz="0.00426657" />
    </inertial>
  </link>
  <link name="link_torso_0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_1.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.08848415 0.00021367 4.6e-07" rpy="0.0 0.0 0.0" />
      <mass value="2.24282123" />
      <inertia ixx="0.01413496" ixy="0.00092982" ixz="-1e-07" iyy="0.01005357" iyz="-8e-08" izz="0.01892525" />
    </inertial>
  </link>
  <link name="link_torso_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_2.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00728955 -0.01728522 0.0691138" rpy="0.0 0.0 0.0" />
      <mass value="9.72162676" />
      <inertia ixx="0.1486264" ixy="-0.00142621" ixz="-0.00951385" iyy="0.13854733" iyz="-0.00975351" izz="0.02912982" />
    </inertial>
  </link>
  <link name="link_torso_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_3.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00653835 -0.01769536 0.05636582" rpy="0.0 0.0 0.0" />
      <mass value="9.2169185" />
      <inertia ixx="0.1216227" ixy="-0.0012791" ixz="-0.00831678" iyy="0.1158919" iyz="-0.00873271" izz="0.03094484" />
    </inertial>
  </link>
  <link name="link_torso_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_4.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00574156 -0.01725975 5.61e-05" rpy="0.0 0.0 0.0" />
      <mass value="4.18679196" />
      <inertia ixx="0.0084987" ixy="0.00040861" ixz="-2.63e-06" iyy="0.00929513" iyz="-1.243e-05" izz="0.00955442" />
    </inertial>
  </link>
  <link name="link_torso_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_5.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.09097095 5.085e-05 0.0260195" rpy="0.0 0.0 0.0" />
      <mass value="4.45566276" />
      <inertia ixx="0.01545991" ixy="1.883e-05" ixz="-0.00780349" iyy="0.02550888" iyz="7.15e-06" izz="0.01952563" />
    </inertial>
  </link>
  <link name="link_torso_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_6.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.01338376 0.00025621 -0.03272487" rpy="0.0 0.0 0.0" />
      <mass value="12.59012341" />
      <inertia ixx="0.21375525" ixy="0.0005152" ixz="0.00880124" iyy="0.1656209" iyz="-0.00023995" izz="0.13308879" />
    </inertial>
  </link>
  <link name="link_right_arm_0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_7.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00316662 0.03437181 -3e-07" rpy="0.0 0.0 0.0" />
      <mass value="1.26164242" />
      <inertia ixx="0.00230621" ixy="0.00039024" ixz="-2.56e-06" iyy="0.00426418" iyz="1.18e-06" izz="0.00432156" />
    </inertial>
  </link>
  <link name="link_right_arm_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_8.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00307855 -0.00124741 -0.01294324" rpy="0.0 0.0 0.0" />
      <mass value="2.27287031" />
      <inertia ixx="0.0038849" ixy="-1.477e-05" ixz="0.00011465" iyy="0.00447034" iyz="-0.00010023" izz="0.00288341" />
    </inertial>
  </link>
  <link name="link_right_arm_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_9.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00115434 -0.00196635 -0.16192524" rpy="0.0 0.0 0.0" />
      <mass value="2.46909439" />
      <inertia ixx="0.00980269" ixy="5.871e-05" ixz="0.00051888" iyy="0.0092456" iyz="-0.00045932" izz="0.00329867" />
    </inertial>
  </link>
  <link name="link_right_arm_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_10.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.01603135 -0.00692891 -0.04549811" rpy="0.0 0.0 0.0" />
      <mass value="2.26099493" />
      <inertia ixx="0.00822606" ixy="0.0002762" ixz="-0.0015657" iyy="0.0084487" iyz="0.00076157" izz="0.00236614" />
    </inertial>
  </link>
  <link name="link_right_arm_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_11.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-1.1e-07 -0.02696036 0.0618211" rpy="0.0 0.0 0.0" />
      <mass value="0.4250871" />
      <inertia ixx="0.00082466" ixy="0.0" ixz="0.0" iyy="0.00075398" iyz="-0.00025338" izz="0.00039794" />
    </inertial>
  </link>
  <link name="link_right_arm_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_12.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00318034 -0.00532264 -0.02809655" rpy="0.0 0.0 0.0" />
      <mass value="1.59194395" />
      <inertia ixx="0.00256054" ixy="-2.344e-05" ixz="-1.563e-05" iyy="0.00257233" iyz="0.00021608" izz="0.00156092" />
    </inertial>
  </link>
  <link name="link_right_arm_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_13.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.0006681 -0.00031708 -0.09636043" rpy="0.0 0.0 0.0" />
      <mass value="0.21137279" />
      <inertia ixx="0.00013511" ixy="-2.42e-06" ixz="-1.02e-06" iyy="0.00014453" iyz="9.4e-07" izz="0.00025431" />
    </inertial>
  </link>
  <link name="link_left_arm_0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_14.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00316662 -0.03437151 2.42e-06" rpy="0.0 0.0 0.0" />
      <mass value="1.26164242" />
      <inertia ixx="0.00230624" ixy="-0.00039022" ixz="2.69e-06" iyy="0.00426418" iyz="1.08e-06" izz="0.00432159" />
    </inertial>
  </link>
  <link name="link_left_arm_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_15.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.0018347 0.00040596 -0.01008733" rpy="0.0 0.0 0.0" />
      <mass value="1.88138658" />
      <inertia ixx="0.00295838" ixy="-1.176e-05" ixz="6.949e-05" iyy="0.00355208" iyz="4.467e-05" izz="0.00230558" />
    </inertial>
  </link>
  <link name="link_left_arm_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_16.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00066086 -0.00038583 -0.15742972" rpy="0.0 0.0 0.0" />
      <mass value="2.35634437" />
      <inertia ixx="0.00842712" ixy="2.47e-06" ixz="0.00036948" iyy="0.00802311" iyz="-6.55e-05" izz="0.00295678" />
    </inertial>
  </link>
  <link name="link_left_arm_3">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_17.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.01565298 0.00793126 -0.04997943" rpy="0.0 0.0 0.0" />
      <mass value="2.00905891" />
      <inertia ixx="0.00756474" ixy="-0.00026771" ixz="-0.00155419" iyy="0.00772758" iyz="-0.00084364" izz="0.00199754" />
    </inertial>
  </link>
  <link name="link_left_arm_4">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_18.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="1.1e-07 0.02696036 0.0618211" rpy="0.0 0.0 0.0" />
      <mass value="0.4250871" />
      <inertia ixx="0.00082466" ixy="0.0" ixz="0.0" iyy="0.00075398" iyz="0.00025338" izz="0.00039794" />
    </inertial>
  </link>
  <link name="link_left_arm_5">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_19.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00340082 0.00576824 -0.02507309" rpy="0.0 0.0 0.0" />
      <mass value="1.44264795" />
      <inertia ixx="0.00233577" ixy="3.048e-05" ixz="-1.191e-05" iyy="0.0023258" iyz="-0.00019491" izz="0.00138375" />
    </inertial>
  </link>
  <link name="link_left_arm_6">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/LINK_20.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.0006681 0.00031708 -0.09636043" rpy="0.0 0.0 0.0" />
      <mass value="0.21137279" />
      <inertia ixx="0.00013511" ixy="-2.42e-06" ixz="1.02e-06" iyy="0.00014453" iyz="-9.4e-07" izz="0.00025431" />
    </inertial>
  </link>
  <link name="FT_sensor_R">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/FT_SENSOR_R.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00010423 0.00108019 -0.01880676" rpy="0.0 0.0 0.0" />
      <mass value="0.49078507" />
      <inertia ixx="0.00028587" ixy="-1.46e-06" ixz="-2.6e-07" iyy="0.00030459" iyz="-7.72e-06" izz="0.00036377" />
    </inertial>
  </link>
  <link name="FT_sensor_L">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/FT_SENSOR_L.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00010423 -0.00108019 -0.01880676" rpy="0.0 0.0 0.0" />
      <mass value="0.49078507" />
      <inertia ixx="0.00028587" ixy="-1.46e-06" ixz="2.6e-07" iyy="0.00030459" iyz="7.72e-06" izz="0.00036377" />
    </inertial>
  </link>
  <link name="ee_right">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/EE_BODY.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00212703 6.15e-06 -0.04287176" rpy="0.0 0.0 0.0" />
      <mass value="0.46704998" />
      <inertia ixx="0.00032067" ixy="2.383e-05" ixz="-7.85e-06" iyy="0.00059559" iyz="-7e-08" izz="0.00052732" />
    </inertial>
  </link>
  <link name="ee_finger_r1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/EE_FINGER.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
      <mass value="0.03326999" />
      <inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
    </inertial>
  </link>
  <link name="ee_finger_r2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/EE_FINGER.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
      <mass value="0.03326999" />
      <inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
    </inertial>
  </link>
  <link name="ee_left">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/EE_BODY.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00212703 6.15e-06 -0.04287176" rpy="0.0 0.0 0.0" />
      <mass value="0.46704998" />
      <inertia ixx="0.00032067" ixy="2.383e-05" ixz="-7.85e-06" iyy="0.00059559" iyz="-7e-08" izz="0.00052732" />
    </inertial>
  </link>
  <link name="ee_finger_l1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/EE_FINGER.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
      <mass value="0.03326999" />
      <inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
    </inertial>
  </link>
  <link name="ee_finger_l2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/EE_FINGER.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="0.00278346 -3.29e-06 -0.02570112" rpy="0.0 0.0 0.0" />
      <mass value="0.03326999" />
      <inertia ixx="1.231e-05" ixy="0.0" ixz="-4.2e-07" iyy="1.066e-05" iyz="0.0" izz="2.24e-06" />
    </inertial>
  </link>
  <link name="link_head_0">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/PAN_TILT_1.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00800549 0.0 -0.01100308" rpy="0.0 0.0 0.0" />
      <mass value="0.0758211" />
      <inertia ixx="3.307e-05" ixy="0.0" ixz="-2.9e-06" iyy="2.209e-05" iyz="0.0" izz="3.796e-05" />
    </inertial>
  </link>
  <link name="link_head_1">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/PAN_TILT_2.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.01150679 -0.0011427 -0.00031579" rpy="0.0 0.0 0.0" />
      <mass value="0.0745058" />
      <inertia ixx="1.85e-05" ixy="-3.5e-07" ixz="2.03e-06" iyy="2.451e-05" iyz="-1e-07" izz="2.062e-05" />
    </inertial>
  </link>
  <link name="link_head_2">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="./meshes/PAN_TILT_3.dae" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.00081966 0.00099024 0.02283704" rpy="0.0 0.0 0.0" />
      <mass value="0.03585374" />
      <inertia ixx="2.046e-05" ixy="1e-08" ixz="-2.7e-07" iyy="1.044e-05" iyz="7.6e-07" izz="1.291e-05" />
    </inertial>
  </link>
  <joint name="right_wheel" type="continuous">
    <origin xyz="0.228 -0.265 0.1" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="wheel_r" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="100.0" velocity="15.707963268" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_wheel" type="continuous">
    <origin xyz="0.228 0.265 0.1" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="wheel_l" />
    <axis xyz="0.0 -1.0 0.0" />
    <limit effort="100.0" velocity="15.707963268" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="torso_0" type="revolute">
    <origin xyz="0.0 0.0 0.2805" rpy="0.0 0.0 0.0" />
    <parent link="base" />
    <child link="link_torso_0" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="270.0" velocity="2.0943951" lower="-0.261799388" upper="0.261799388" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="torso_1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_torso_0" />
    <child link="link_torso_1" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="270.0" velocity="2.0943951" lower="-0.523598776" upper="1.570796327" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="torso_2" type="revolute">
    <origin xyz="0.0 0.0 0.35" rpy="0.0 0.0 0.0" />
    <parent link="link_torso_1" />
    <child link="link_torso_2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="270.0" velocity="2.0943951" lower="-2.617993878" upper="1.570796327" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="torso_3" type="revolute">
    <origin xyz="0.0 0.0 0.35" rpy="0.0 0.0 0.0" />
    <parent link="link_torso_2" />
    <child link="link_torso_3" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="120.0" velocity="3.141592654" lower="-0.785398163" upper="1.570796327" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="torso_4" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_torso_3" />
    <child link="link_torso_4" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="120.0" velocity="3.141592654" lower="-0.523598776" upper="0.523598776" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="torso_5" type="revolute">
    <origin xyz="0.0 0.0 0.309426548461" rpy="0.0 0.0 0.0" />
    <parent link="link_torso_4" />
    <child link="link_torso_5" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="120.0" velocity="3.141592654" lower="-2.35619449" upper="2.35619449" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_0" type="revolute">
    <origin xyz="0.0 -0.22 0.080073451539" rpy="-0.34906585 0.0 0.0" />
    <parent link="link_torso_5" />
    <child link="link_right_arm_0" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.34906585 0.0 0.0" />
    <parent link="link_right_arm_0" />
    <child link="link_right_arm_1" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="0.017453293" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_right_arm_1" />
    <child link="link_right_arm_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_3" type="revolute">
    <origin xyz="0.031 0.0 -0.276" rpy="0.0 0.0 0.0" />
    <parent link="link_right_arm_2" />
    <child link="link_right_arm_3" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="40.0" velocity="3.141592654" lower="-2.617993878" upper="0.017453293" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_4" type="revolute">
    <origin xyz="-0.031 0.0 -0.256" rpy="0.0 0.0 0.0" />
    <parent link="link_right_arm_3" />
    <child link="link_right_arm_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="6.283185308" lower="-3.141592654" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_5" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_right_arm_4" />
    <child link="link_right_arm_5" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="6.283185308" lower="-1.570796327" upper="1.919862177" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_arm_6" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_right_arm_5" />
    <child link="link_right_arm_6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="8.0" velocity="2.094395102" lower="-2.70526034" upper="2.70526034" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_0" type="revolute">
    <origin xyz="0.0 0.22 0.080073452" rpy="0.34906585 0.0 0.0" />
    <parent link="link_torso_5" />
    <child link="link_left_arm_0" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="-0.34906585 0.0 0.0" />
    <parent link="link_left_arm_0" />
    <child link="link_left_arm_1" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="70.0" velocity="3.141592654" lower="-0.017453293" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_2" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_left_arm_1" />
    <child link="link_left_arm_2" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="70.0" velocity="3.141592654" lower="-3.141592654" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_3" type="revolute">
    <origin xyz="0.031 0.0 -0.276" rpy="0.0 0.0 0.0" />
    <parent link="link_left_arm_2" />
    <child link="link_left_arm_3" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="40.0" velocity="3.141592654" lower="-2.617993878" upper="0.017453293" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_4" type="revolute">
    <origin xyz="-0.031 0.0 -0.256" rpy="0.0 0.0 0.0" />
    <parent link="link_left_arm_3" />
    <child link="link_left_arm_4" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="6.283185308" lower="-3.141592654" upper="3.141592654" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_5" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_left_arm_4" />
    <child link="link_left_arm_5" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="6.283185308" lower="-1.570796327" upper="1.919862177" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_arm_6" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_left_arm_5" />
    <child link="link_left_arm_6" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="8.0" velocity="2.094395102" lower="-2.70526034" upper="2.70526034" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="tool_right" type="fixed">
    <origin xyz="0.0 0.0 -0.1087" rpy="0.0 0.0 0.0" />
    <parent link="link_right_arm_6" />
    <child link="FT_sensor_R" />
  </joint>
  <joint name="FT_Sensor_END_right" type="fixed">
    <origin xyz="0.0 0.0 -0.0461" rpy="0.0 0.0 0.0" />
    <parent link="FT_sensor_R" />
    <child link="ee_right" />
  </joint>
  <joint name="gripper_finger_r1" type="prismatic">
    <origin xyz="0.003 0.0 -0.073" rpy="0.0 0.0 0.0" />
    <parent link="ee_right" />
    <child link="ee_finger_r1" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.05" lower="-0.05" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="gripper_finger_r2" type="prismatic">
    <origin xyz="-0.003 0.0 -0.073" rpy="0.0 0.0 3.1415926535" />
    <parent link="ee_right" />
    <child link="ee_finger_r2" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.05" lower="0.0" upper="0.05" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="tool_left" type="fixed">
    <origin xyz="0.0 0.0 -0.1087" rpy="0.0 0.0 0.0" />
    <parent link="link_left_arm_6" />
    <child link="FT_sensor_L" />
  </joint>
  <joint name="FT_Sensor_END_left" type="fixed">
    <origin xyz="0.0 0.0 -0.0461" rpy="0.0 0.0 0.0" />
    <parent link="FT_sensor_L" />
    <child link="ee_left" />
  </joint>
  <joint name="gripper_finger_l1" type="prismatic">
    <origin xyz="0.003 0.0 -0.073" rpy="0.0 0.0 0.0" />
    <parent link="ee_left" />
    <child link="ee_finger_l1" />
    <axis xyz="-1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.05" lower="-0.05" upper="0.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="gripper_finger_l2" type="prismatic">
    <origin xyz="-0.003 0.0 -0.073" rpy="0.0 0.0 3.1415926535" />
    <parent link="ee_left" />
    <child link="ee_finger_l2" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="1000.0" velocity="0.05" lower="0.0" upper="0.05" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="head_base" type="fixed">
    <origin xyz="0.022 0.0 0.120073451525" rpy="0.0 0.0 0.0" />
    <parent link="link_torso_5" />
    <child link="link_head_0" />
  </joint>
  <joint name="head_0" type="revolute">
    <origin xyz="0.0 0.0 0.02" rpy="0.0 0.0 0.0" />
    <parent link="link_head_0" />
    <child link="link_head_1" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="1000.0" velocity="3.14" lower="-0.523" upper="0.523" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="head_1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="link_head_1" />
    <child link="link_head_2" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="1000.0" velocity="3.14" lower="-0.35" upper="1.57" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
