human.urdf

<?xml version="1.0" ?>
<robot name="HUMAN" xmlns:xacro="http://ros.org/wiki/xacro">

  <link name="base_link"/>

  <joint name="base" type="fixed">
    <parent link="base_link"/>
    <child link="HipsLink"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>

  <!-- Body Links -->
  <link name="HipsLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0232 0.0 -0.1192"/>
      <mass value="20.9238"/>
      <inertia ixx="-0.3225" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.2362" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/HipsLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/HipsLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="TorsoLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.1334 0.0 0.4701"/>
      <mass value="10.7790"/>
      <inertia ixx="-0.3481" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.2709" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/TorsoLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/TorsoLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="HeadLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0459 0.0 0.0433"/>
      <mass value="4.7372"/>
      <inertia ixx="-0.1891" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.1891" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/HeadLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/HeadLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LArmLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0 0.1328 0.0"/>
      <mass value="1.96"/>
      <inertia ixx="-0.3475" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.6719" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LArmLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LArmLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LElbowLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000513 0.034528 -0.000934"/>
      <mass value="0.25"/>
      <inertia ixx="-5.9e-05" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="8e-05" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LElbowLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LElbowLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LForearmLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0 0.15114 0.0"/>
      <mass value="1.18"/>
      <inertia ixx="-0.0753" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.1326" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LForearmLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LForearmLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LHandLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0139 0.042 -0.0128"/>
      <mass value="0.272"/>
      <inertia ixx="-0.00029946" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.00019118" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LWrist.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LWrist.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RArmLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0 -0.1328 0.0"/>
      <mass value="1.96"/>
      <inertia ixx="-0.3475" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.6719" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RArmLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RArmLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RElbowLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000513 -0.034528 -0.000934"/>
      <mass value="0.25"/>
      <inertia ixx="-5.9e-05" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="8e-05" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RElbowLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RElbowLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RForearmLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0 -0.15114 0.0"/>
      <mass value="1.18"/>
      <inertia ixx="-0.0753" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.1326" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RForearmLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RForearmLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RHandLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0139 -0.042 -0.0128"/>
      <mass value="0.272"/>
      <inertia ixx="-0.00029946" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.00019118" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RWrist.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RWrist.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LLegLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0185 -0.0071 -0.178"/>
      <mass value="6.51"/>
      <inertia ixx="-0.1264" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.1264" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LLegLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LLegLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LShinLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0131 0.0025 0.0346"/>
      <mass value="3.095"/>
      <inertia ixx="-0.0632" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.0632" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LShinLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LShinLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="LAnkleLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0508 0.0067 -0.0646"/>
      <mass value="0.99"/>
      <inertia ixx="-0.0015" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.0059" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LAnkleLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LAnkleLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RLegLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0185 -0.0071 -0.178"/>
      <mass value="6.51"/>
      <inertia ixx="-0.1264" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.1264" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RLegLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RLegLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RShinLink">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.0131 0.0025 0.0346"/>
      <mass value="3.095"/>
      <inertia ixx="-0.0632" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.0632" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RShinLink.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RShinLink.dae"/>
      </geometry>
    </collision>
  </link>

  <link name="RAnkleLink">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0508 -0.0067 -0.0646"/>
      <mass value="0.99"/>
      <inertia ixx="-0.0015" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.0059" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RAnkleLinkFull.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RAnkleLinkFull.dae"/>
      </geometry>
    </collision>
  </link>

  <!-- Joints -->

  <!-- Hips to Torso : spherical -->
  <link name="hip2torso_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <link name="hip2torso_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="Torso_0" type="revolute">
    <parent link="HipsLink"/>
    <child link="hip2torso_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-0.65" upper="0.65" velocity="100"/>
  </joint>

  <joint name="Torso_1" type="revolute">
    <parent link="hip2torso_1"/>
    <child link="hip2torso_2"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-0.55" upper="2.9" velocity="100"/>
  </joint>

  <joint name="Torso_2" type="revolute">
    <parent link="hip2torso_2"/>
    <child link="TorsoLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.7" upper="0.7" velocity="100"/>
  </joint>

  <!-- Torso to Head : spherical -->
  <link name="torso2head_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.05"/>
      <inertia ixx="0.000002" ixy="0.0" ixz="0.0" iyy="0.000002" iyz="0.0" izz="0.000002"/>
    </inertial>
  </link>

  <link name="torso2head_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.05"/>
      <inertia ixx="0.000002" ixy="0.0" ixz="0.0" iyy="0.000002" iyz="0.0" izz="0.000002"/>
    </inertial>
  </link>

  <joint name="Head_0" type="revolute">
    <parent link="TorsoLink"/>
    <child link="torso2head_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.025 0.0 0.525"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-0.62" upper="0.62" velocity="100"/>
  </joint>

  <joint name="Head_1" type="revolute">
    <parent link="torso2head_1"/>
    <child link="torso2head_2"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-0.45" upper="0.45" velocity="100"/>
  </joint>

  <joint name="Head_2" type="revolute">
    <parent link="torso2head_2"/>
    <child link="HeadLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-1.1" upper="1.1" velocity="100"/>
  </joint>

  <!-- Torso to left Shoulder : spherical -->
  <link name="torso2lshoulder_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <link name="torso2lshoulder_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="LArm_0" type="revolute">
    <parent link="TorsoLink"/>
    <child link="torso2lshoulder_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.05 0.15 0.35"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-1.42" upper="1.57" velocity="100"/>
  </joint>

  <joint name="LArm_1" type="revolute">
    <parent link="torso2lshoulder_1"/>
    <child link="torso2lshoulder_2"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-1.2" upper="1.2" velocity="100"/>
  </joint>

  <joint name="LArm_2" type="revolute">
    <parent link="torso2lshoulder_2"/>
    <child link="LArmLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-2.8" upper="0.9" velocity="100"/>
  </joint>


  <joint name="LElbow" type="revolute">
    <parent link="LArmLink"/>
    <child link="LElbowLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.2 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-1.57" upper="1.0" velocity="100"/>
  </joint>


  <joint name="LForearm" type="revolute">
    <parent link="LElbowLink"/>
    <child link="LForearmLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.01 0.05 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-2.5" upper="0.0" velocity="100"/>
  </joint>


  <!-- Forearm to left Wrist connection-->
  <link name="forearm2lwrist_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.05"/>
      <inertia ixx="0.000002" ixy="0.0" ixz="0.0" iyy="0.000002" iyz="0.0" izz="0.000002"/>
    </inertial>
  </link>

  <joint name="LWrist_0" type="revolute">
    <parent link="LForearmLink"/>
    <child link="forearm2lwrist_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.01 0.24 -0.01"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-1.5" upper="1.5" velocity="100"/>
  </joint>

  <joint name="LWrist_1" type="revolute">
    <parent link="forearm2lwrist_1"/>
    <child link="LHandLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.35" upper="0.35" velocity="100"/>
  </joint>


  <!-- Torso to right Shoulder : spherical -->
  <link name="torso2rshoulder_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <link name="torso2rshoulder_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="RArm_0" type="revolute">
    <parent link="TorsoLink"/>
    <child link="torso2rshoulder_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.05 -0.15 0.35"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-1.42" upper="1.57" velocity="100"/>
  </joint>

  <joint name="RArm_1" type="revolute">
    <parent link="torso2rshoulder_1"/>
    <child link="torso2rshoulder_2"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-1.2" upper="1.2" velocity="100"/>
  </joint>

  <joint name="RArm_2" type="revolute">
    <parent link="torso2rshoulder_2"/>
    <child link="RArmLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.9" upper="2.8" velocity="100"/>
  </joint>


  <joint name="RElbow" type="revolute">
    <parent link="RArmLink"/>
    <child link="RElbowLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.2 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-1.57" upper="1.0" velocity="100"/>
  </joint>


  <joint name="RForearm" type="revolute">
    <parent link="RElbowLink"/>
    <child link="RForearmLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.01 -0.05 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="0.0" upper="2.5" velocity="100"/>
  </joint>


  <!-- Forearm to right Wrist connection-->
  <link name="forearm2rwrist_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.05"/>
      <inertia ixx="0.000002" ixy="0.0" ixz="0.0" iyy="0.000002" iyz="0.0" izz="0.000002"/>
    </inertial>
  </link>

  <joint name="RWrist_0" type="revolute">
    <parent link="RForearmLink"/>
    <child link="forearm2rwrist_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.01 -0.24 -0.01"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-1.5" upper="1.5" velocity="100"/>
  </joint>

  <joint name="RWrist_1" type="revolute">
    <parent link="forearm2rwrist_1"/>
    <child link="RHandLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.35" upper="0.35" velocity="100"/>
  </joint>


  <!-- Torso to left Leg : spherical -->
  <link name="torso2lleg_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <link name="torso2lleg_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="LLeg_0" type="revolute">
    <parent link="HipsLink"/>
    <child link="torso2lleg_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.1 -0.15"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-0.52" upper="0.87" velocity="100"/>
  </joint>

  <joint name="LLeg_1" type="revolute">
    <parent link="torso2lleg_1"/>
    <child link="torso2lleg_2"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-2.3" upper="0.52" velocity="100"/>
  </joint>

  <joint name="LLeg_2" type="revolute">
    <parent link="torso2lleg_2"/>
    <child link="LLegLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.8" upper="0.8" velocity="100"/>
  </joint>


  <joint name="LShin_0" type="revolute">
    <parent link="LLegLink"/>
    <child link="LShinLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.025 0.0 -0.35"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="0.0" upper="2.6" velocity="100"/>
  </joint>

  <!-- Shin to left Ankle : 2DoF -->
  <link name="shin2lankle_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="LAnkle_0" type="revolute">
    <parent link="LShinLink"/>
    <child link="shin2lankle_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.025 0.0 -0.375"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-0.78" upper="1.3" velocity="100"/>
  </joint>

  <joint name="LAnkle_1" type="revolute">
    <parent link="shin2lankle_1"/>
    <child link="LAnkleLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-0.5" upper="0.5" velocity="100"/>
  </joint>


  <!-- Torso to right Leg : spherical -->
  <link name="torso2rleg_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <link name="torso2rleg_2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="RLeg_0" type="revolute">
    <parent link="HipsLink"/>
    <child link="torso2rleg_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.1 -0.15"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-0.87" upper="0.52" velocity="100"/>
  </joint>

  <joint name="RLeg_1" type="revolute">
    <parent link="torso2rleg_1"/>
    <child link="torso2rleg_2"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-2.3" upper="0.52" velocity="100"/>
  </joint>

  <joint name="RLeg_2" type="revolute">
    <parent link="torso2rleg_2"/>
    <child link="RLegLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-0.8" upper="0.8" velocity="100"/>
  </joint>


  <joint name="RShin_0" type="revolute">
    <parent link="RLegLink"/>
    <child link="RShinLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.025 0.0 -0.35"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="0.0" upper="2.6" velocity="100"/>
  </joint>

  <!-- Shin to right Ankle : 2DoF -->
  <link name="shin2rankle_1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.2"/>
      <inertia ixx="0.0000032" ixy="0.0" ixz="0.0" iyy="0.0000032" iyz="0.0" izz="0.0000032"/>
    </inertial>
  </link>

  <joint name="RAnkle_0" type="revolute">
    <parent link="RShinLink"/>
    <child link="shin2rankle_1"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.025 0.0 -0.375"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-0.78" upper="1.3" velocity="100"/>
  </joint>

  <joint name="RAnkle_1" type="revolute">
    <parent link="shin2rankle_1"/>
    <child link="RAnkleLink"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1 0 0"/>
    <limit effort="100" lower="-0.5" upper="0.5" velocity="100"/>
  </joint>

  <!-- Left hand fingers links -->
  <link name="LHandThumb0Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.019337 0.003385 -0.004077"/>
      <mass value="0.0182"/>
      <inertia ixx="-9e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="1e-05" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LThumb0thPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LThumb0thPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandThumb1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.01028 0.001082 0.002081"/>
      <mass value="0.0182"/>
      <inertia ixx="-4e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LThumb1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LThumb1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandThumb2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.016873 0.000626 -0.001112"/>
      <mass value="0.0182"/>
      <inertia ixx="-4e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LThumb2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LThumb2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandIndex1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001367 0.01696 0.001019"/>
      <mass value="0.0182"/>
      <inertia ixx="-5e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="5e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LIndex1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LIndex1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandIndex2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000441 0.009184 0.000856"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LIndex2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LIndex2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandIndex3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001129 0.010116 0.001347"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LIndex3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LIndex3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandMiddle1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000126 0.013279 0.000876"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LMiddle1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LMiddle1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandMiddle2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000232 0.010285 0.001535"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LMiddle2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LMiddle2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandMiddle3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000228 0.009327 0.001888"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LMiddle3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LMiddle3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandRing1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001164 0.011568 -0.002292"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LRing1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LRing1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandRing2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000672 0.011883 0.001817"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LRing2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LRing2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandRing3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000957 0.007793 0.000943"/>
      <mass value="0.0182"/>
      <inertia ixx="-1e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LRing3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LRing3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandBaby1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000982 0.009799 0.000912"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LBaby1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LBaby1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandBaby2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000602 0.009315 0.001953"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LBaby2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LBaby2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LHandBaby3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.018741 0.030511 0.01986"/>
      <mass value="0.0182"/>
      <inertia ixx="-1.9e-05" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2.5e-05" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LBaby3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/LBaby3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>

  <!-- Right hand fingers links -->
  <link name="RHandThumb0Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.019337 -0.003385 -0.004077"/>
      <mass value="0.0182"/>
      <inertia ixx="-9e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="1e-05" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RThumb0thPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RThumb0thPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandThumb1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.01028 -0.001082 0.002081"/>
      <mass value="0.0182"/>
      <inertia ixx="-4e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RThumb1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RThumb1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandThumb2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.016873 -0.000626 -0.001112"/>
      <mass value="0.0182"/>
      <inertia ixx="-4e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RThumb2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RThumb2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandIndex1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001367 -0.01696 0.001019"/>
      <mass value="0.0182"/>
      <inertia ixx="-5e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="5e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RIndex1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RIndex1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandIndex2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000441 -0.009184 0.000856"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RIndex2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RIndex2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandIndex3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001129 -0.010116 0.001347"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RIndex3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RIndex3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandMiddle1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000126 -0.013279 0.000876"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RMiddle1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RMiddle1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandMiddle2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000232 -0.010285 0.001535"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RMiddle2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RMiddle2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandMiddle3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000228 -0.009327 0.001888"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RMiddle3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RMiddle3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandRing1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.001164 -0.011568 -0.002292"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="4e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RRing1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RRing1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandRing2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000672 -0.011883 0.001817"/>
      <mass value="0.0182"/>
      <inertia ixx="-3e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RRing2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RRing2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandRing3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.000957 -0.007793 0.000943"/>
      <mass value="0.0182"/>
      <inertia ixx="-1e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RRing3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RRing3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandBaby1Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000982 -0.009799 0.000912"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="3e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RBaby1stPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RBaby1stPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandBaby2Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.000602 -0.009315 0.001953"/>
      <mass value="0.0182"/>
      <inertia ixx="-2e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2e-06" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RBaby2ndPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RBaby2ndPhalange.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RHandBaby3Link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.018741 -0.030511 0.01986"/>
      <mass value="0.0182"/>
      <inertia ixx="-1.9e-05" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="2.5e-05" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RBaby3rdPhalange.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://human_description/meshes/RBaby3rdPhalange.dae"/>
      </geometry>
    </collision>
  </link>

  <!-- Left gripper active joint -->
  <joint name="LHand" type="revolute">
    <parent link="LHandLink"/>
    <child link="l_gripper"/>
    <origin rpy="0 0 0" xyz="0.025 0 0"/>
    <axis xyz="1.0 0 0"/>
    <limit effort="0.144" lower="0" upper="1" velocity="12.56"/>
  </joint>
  <link name="l_gripper">
    <inertial>
      <mass value="2e-06"/>
      <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
    </inertial>
  </link>

  <!-- Left hand finger joints -->
  <joint name="LHandThumbLink1" type="continuous">
    <parent link="LHandLink"/>
    <child link="LHandThumb0Link"/>
    <origin rpy="0.5 0.0 0.7" xyz="0.025 0.016 -0.016"/>
    <axis xyz="0 1 0"/>
    <mimic joint="LHand" multiplier="0.3" offset="0"/>
  </joint>
  <joint name="LHandThumbLink2" type="continuous">
    <parent link="LHandThumb0Link"/>
    <child link="LHandThumb1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.045 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandThumbLink3" type="continuous">
    <parent link="LHandThumb1Link"/>
    <child link="LHandThumb2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.026 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandIndexLink1" type="continuous">
    <parent link="LHandLink"/>
    <child link="LHandIndex1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0425 0.078 -0.01"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandIndexLink2" type="continuous">
    <parent link="LHandIndex1Link"/>
    <child link="LHandIndex2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.035 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandIndexLink3" type="continuous">
    <parent link="LHandIndex2Link"/>
    <child link="LHandIndex3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.022 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandMiddleLink1" type="continuous">
    <parent link="LHandLink"/>
    <child link="LHandMiddle1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.02 0.09 -0.01"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandMiddleLink2" type="continuous">
    <parent link="LHandMiddle1Link"/>
    <child link="LHandMiddle2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.028 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandMiddleLink3" type="continuous">
    <parent link="LHandMiddle2Link"/>
    <child link="LHandMiddle3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.025 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandRingLink1" type="continuous">
    <parent link="LHandLink"/>
    <child link="LHandRing1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.001 0.085 -0.01"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandRingLink2" type="continuous">
    <parent link="LHandRing1Link"/>
    <child link="LHandRing2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.0225 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandRingLink3" type="continuous">
    <parent link="LHandRing2Link"/>
    <child link="LHandRing3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.028 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandBabyLink1" type="continuous">
    <parent link="LHandLink"/>
    <child link="LHandBaby1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.015 0.079 -0.022"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandBabyLink2" type="continuous">
    <parent link="LHandBaby1Link"/>
    <child link="LHandBaby2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.02 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="LHandBabyLink3" type="continuous">
    <parent link="LHandBaby2Link"/>
    <child link="LHandBaby3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 0.02 0.0"/>
    <axis xyz="-1 0 0"/>
    <mimic joint="LHand" multiplier="0.8" offset="0"/>
  </joint>

  <!-- Right gripper active joint -->
  <joint name="RHand" type="revolute">
    <parent link="RHandLink"/>
    <child link="r_gripper"/>
    <origin rpy="0 0 0" xyz="0.025 0 0"/>
    <axis xyz="1.0 0 0"/>
    <limit effort="0.144" lower="0" upper="1" velocity="12.56"/>
  </joint>
  <link name="r_gripper">
    <inertial>
      <mass value="2e-06"/>
      <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
    </inertial>
  </link>

  <!-- Right hand finger joints -->
  <joint name="RHandThumbLink1" type="continuous">
    <parent link="RHandLink"/>
    <child link="RHandThumb0Link"/>
    <origin rpy="-0.5 0.0 -0.7" xyz="0.025 -0.016 -0.016"/>
    <axis xyz="0 1 0"/>
    <mimic joint="RHand" multiplier="0.3" offset="0"/>
  </joint>
  <joint name="RHandThumbLink2" type="continuous">
    <parent link="RHandThumb0Link"/>
    <child link="RHandThumb1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.045 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandThumbLink3" type="continuous">
    <parent link="RHandThumb1Link"/>
    <child link="RHandThumb2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.026 0.0 0.0"/>
    <axis xyz="0 1 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandIndexLink1" type="continuous">
    <parent link="RHandLink"/>
    <child link="RHandIndex1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0425 -0.078 -0.01"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandIndexLink2" type="continuous">
    <parent link="RHandIndex1Link"/>
    <child link="RHandIndex2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.035 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandIndexLink3" type="continuous">
    <parent link="RHandIndex2Link"/>
    <child link="RHandIndex3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.022 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandMiddleLink1" type="continuous">
    <parent link="RHandLink"/>
    <child link="RHandMiddle1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.02 -0.09 -0.01"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandMiddleLink2" type="continuous">
    <parent link="RHandMiddle1Link"/>
    <child link="RHandMiddle2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.028 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandMiddleLink3" type="continuous">
    <parent link="RHandMiddle2Link"/>
    <child link="RHandMiddle3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.025 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandRingLink1" type="continuous">
    <parent link="RHandLink"/>
    <child link="RHandRing1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.001 -0.085 -0.01"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandRingLink2" type="continuous">
    <parent link="RHandRing1Link"/>
    <child link="RHandRing2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.0225 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandRingLink3" type="continuous">
    <parent link="RHandRing2Link"/>
    <child link="RHandRing3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.028 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandBabyLink1" type="continuous">
    <parent link="RHandLink"/>
    <child link="RHandBaby1Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.015 -0.079 -0.022"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandBabyLink2" type="continuous">
    <parent link="RHandBaby1Link"/>
    <child link="RHandBaby2Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.02 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>
  <joint name="RHandBabyLink3" type="continuous">
    <parent link="RHandBaby2Link"/>
    <child link="RHandBaby3Link"/>
    <origin rpy="0.0 0.0 0.0" xyz="-0.0 -0.02 0.0"/>
    <axis xyz="1 0 0"/>
    <mimic joint="RHand" multiplier="0.8" offset="0"/>
  </joint>

</robot>