robots/h1/urdf/h1_wrist.urdf

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
Stephen Brawner (brawner@gmail.com)
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="h1_description">
  <mujoco>
    <compiler meshdir="../meshes" discardvisual="false" />
  </mujoco>


  <!-- [CAUTION] uncomment when convert to mujoco -->
  <!-- <link name="world"></link>
  <joint name="floating_base" type="floating">
    <parent link="world" />
    <child link="pelvis" />
  </joint> -->


  <link
    name="pelvis">
    <inertial>
      <origin
        xyz="-0.0002 4E-05 -0.04522"
        rpy="0 0 0" />
      <mass
        value="5.39" />
      <inertia
        ixx="0.044582"
        ixy="8.7034E-05"
        ixz="-1.9893E-05"
        iyy="0.0082464"
        iyz="4.021E-06"
        izz="0.049021" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/pelvis.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
    </collision>
  </link>
  <link
    name="left_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.04923 0.0001 0.0072"
        rpy="0 0 0" />
      <mass
        value="2.244" />
      <inertia
        ixx="0.0025731"
        ixy="9.159E-06"
        ixz="-0.00051948"
        iyy="0.0030444"
        iyz="1.949E-06"
        izz="0.0022883" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hip_yaw_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <!-- [CAUTION] use cylinder for hip_yaw_link -->
    <collision>
      <!-- <origin
        xyz="-0.067 0 0"
        rpy="0 1.57075 0" />
      <geometry>
        <cylinder length="0.07" radius="0.06" />
      </geometry> -->
    </collision>
  </link>
  <joint
    name="left_hip_yaw"
    type="revolute">
    <origin
      xyz="0 0.0875 -0.1742"
      rpy="0 0 0" />
    <parent
      link="pelvis" />
    <child
      link="left_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_hip_roll_link">
    <inertial>
      <origin
        xyz="-0.0058 -0.00319 -9E-05"
        rpy="0 0 0" />
      <mass
        value="2.232" />
      <inertia
        ixx="0.0020603"
        ixy="3.2115E-05"
        ixz="2.878E-06"
        iyy="0.0022482"
        iyz="-7.813E-06"
        izz="0.0024323" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hip_roll_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0.01 0"
        rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.12 0.1" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_roll"
    type="revolute">
    <origin
      xyz="0.039468 0 0"
      rpy="0 0 0" />
    <parent
      link="left_hip_yaw_link" />
    <child
      link="left_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_hip_pitch_link">
    <inertial>
      <origin
        xyz="0.00746 -0.02346 -0.08193"
        rpy="0 0 0" />
      <mass
        value="4.152" />
      <inertia
        ixx="0.082618"
        ixy="-0.00066654"
        ixz="0.0040725"
        iyy="0.081579"
        iyz="0.0072024"
        izz="0.0060081" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_hip_pitch_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0.03 0 -0.16"
        rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.05 0.44" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_hip_pitch"
    type="revolute">
    <origin
      xyz="0 0.11536 0"
      rpy="0 0 0" />
    <parent
      link="left_hip_roll_link" />
    <child
      link="left_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_knee_link">
    <inertial>
      <origin
        xyz="-0.00136 -0.00512 -0.1384"
        rpy="0 0 0" />
      <mass
        value="1.721" />
      <inertia
        ixx="0.012205"
        ixy="-6.8431E-05"
        ixz="0.0010862"
        iyy="0.012509"
        iyz="0.00022549"
        izz="0.0020629" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_knee_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0.025 0 -0.18"
        rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.36" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_knee"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="left_hip_pitch_link" />
    <child
      link="left_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.26"
      upper="2.05"
      effort="300"
      velocity="14" />
  </joint>
  <link
    name="left_ankle_link">
    <inertial>
      <origin
        xyz="0.048568 0 -0.045609"
        rpy="0 0 0" />
      <mass
        value="0.552448" />
      <inertia
        ixx="0.000156"
        ixy="0"
        ixz="0.000143"
        iyy="0.003620"
        iyz="0"
        izz="0.003551" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_link_modified.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_ankle_link_modified.STL" />
      </geometry>
      <!-- <sdf resolution="64"/> -->
    </collision>
  </link>
  <joint
    name="left_ankle"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="left_knee_link" />
    <child
      link="left_ankle_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.87"
      upper="0.52"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="right_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.04923 -0.0001 0.0072"
        rpy="0 0 0" />
      <mass
        value="2.244" />
      <inertia
        ixx="0.0025731"
        ixy="-9.159E-06"
        ixz="-0.00051948"
        iyy="0.0030444"
        iyz="-1.949E-06"
        izz="0.0022883" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hip_yaw_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <!-- [CAUTION] use cylinder for hip_yaw_link -->
    <collision>
      <!-- <origin
        xyz="-0.067 0 0"
        rpy="0 1.57075 0" />
      <geometry>
        <cylinder length="0.07" radius="0.06" />
      </geometry> -->
    </collision>
  </link>
  <joint
    name="right_hip_yaw"
    type="revolute">
    <origin
      xyz="0 -0.0875 -0.1742"
      rpy="0 0 0" />
    <parent
      link="pelvis" />
    <child
      link="right_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="right_hip_roll_link">
    <inertial>
      <origin
        xyz="-0.0058 0.00319 -9E-05"
        rpy="0 0 0" />
      <mass
        value="2.232" />
      <inertia
        ixx="0.0020603"
        ixy="-3.2115E-05"
        ixz="2.878E-06"
        iyy="0.0022482"
        iyz="7.813E-06"
        izz="0.0024323" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hip_roll_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 -0.01 0"
        rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.12 0.1" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_roll"
    type="revolute">
    <origin
      xyz="0.039468 0 0"
      rpy="0 0 0" />
    <parent
      link="right_hip_yaw_link" />
    <child
      link="right_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.43"
      upper="0.43"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="right_hip_pitch_link">
    <inertial>
      <origin
        xyz="0.00746 0.02346 -0.08193"
        rpy="0 0 0" />
      <mass
        value="4.152" />
      <inertia
        ixx="0.082618"
        ixy="0.00066654"
        ixz="0.0040725"
        iyy="0.081579"
        iyz="-0.0072024"
        izz="0.0060081" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_hip_pitch_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0.03 0 -0.16"
        rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.05 0.44" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_hip_pitch"
    type="revolute">
    <origin
      xyz="0 -0.11536 0"
      rpy="0 0 0" />
    <parent
      link="right_hip_roll_link" />
    <child
      link="right_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.57"
      upper="1.57"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="right_knee_link">
    <inertial>
      <origin
        xyz="-0.00136 0.00512 -0.1384"
        rpy="0 0 0" />
      <mass
        value="1.721" />
      <inertia
        ixx="0.012205"
        ixy="6.8431E-05"
        ixz="0.0010862"
        iyy="0.012509"
        iyz="-0.00022549"
        izz="0.0020629" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_knee_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0.025 0 -0.18"
        rpy="0 0 0" />
      <geometry>
        <box size="0.05 0.05 0.36" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_knee"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="right_hip_pitch_link" />
    <child
      link="right_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.26"
      upper="2.05"
      effort="300"
      velocity="14" />
  </joint>
  <link
    name="right_ankle_link">
    <inertial>
      <origin
        xyz="0.048568 0 -0.045609"
        rpy="0 0 0" />
      <mass
        value="0.552448" />
      <inertia
        ixx="0.000156"
        ixy="0"
        ixz="0.000143"
        iyy="0.003620"
        iyz="0"
        izz="0.003551" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_link_modified.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_ankle_link_modified.STL" />
      </geometry>
      <!-- <sdf resolution="64"/> -->
    </collision>
  </link>
  <joint
    name="right_ankle"
    type="revolute">
    <origin
      xyz="0 0 -0.4"
      rpy="0 0 0" />
    <parent
      link="right_knee_link" />
    <child
      link="right_ankle_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-0.87"
      upper="0.52"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="torso_link">
    <inertial>
      <origin
        xyz="0.000489 0.002797 0.20484"
        rpy="0 0 0" />
      <mass
        value="17.789" />
      <inertia
        ixx="0.4873"
        ixy="-0.00053763"
        ixz="0.0020276"
        iyy="0.40963"
        iyz="-0.00074582"
        izz="0.12785" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/torso_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0.245"
        rpy="0 0 0" />
      <geometry>
        <box
          size="0.14 0.2 0.45" />
      </geometry>
    </collision>
  </link>
  <joint
    name="torso"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="pelvis" />
    <child
      link="torso_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.35"
      upper="2.35"
      effort="200"
      velocity="23" />
  </joint>
  <link
    name="left_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="0.005045 0.053657 -0.015715"
        rpy="0 0 0" />
      <mass
        value="1.033" />
      <inertia
        ixx="0.0012985"
        ixy="-1.7333E-05"
        ixz="8.683E-06"
        iyy="0.00087279"
        iyz="3.9656E-05"
        izz="0.00097338" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_pitch_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <!-- <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_pitch_link.STL" />
      </geometry>
    </collision> -->
  </link>
  <joint
    name="left_shoulder_pitch"
    type="revolute">
    <origin
      xyz="0.0055 0.15535 0.42999"
      rpy="0.43633 0 0" />
    <parent
      link="torso_link" />
    <child
      link="left_shoulder_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.87"
      upper="2.87"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="left_shoulder_roll_link">
    <inertial>
      <origin
        xyz="0.000679 0.00115 -0.094076"
        rpy="0 0 0" />
      <mass
        value="0.793" />
      <inertia
        ixx="0.0015742"
        ixy="2.298E-06"
        ixz="-7.2265E-05"
        iyy="0.0016973"
        iyz="-6.3691E-05"
        izz="0.0010183" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_roll_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 -0.045"
        rpy="0 0 0" />
      <geometry>
        <box size="0.09 0.09 0.16" />  <!-- r = 0.1 -->
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_roll"
    type="revolute">
    <origin
      xyz="-0.0055 0.0565 -0.0165"
      rpy="-0.43633 0 0" />
    <parent
      link="left_shoulder_pitch_link" />
    <child
      link="left_shoulder_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.34"
      upper="3.11"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="left_shoulder_yaw_link">
    <inertial>
      <origin
        xyz="0.01365 0.002767 -0.16266"
        rpy="0 0 0" />
      <mass
        value="0.839" />
      <inertia
        ixx="0.003664"
        ixy="-1.0671E-05"
        ixz="0.00034733"
        iyy="0.0040789"
        iyz="7.0213E-05"
        izz="0.00066383" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_shoulder_yaw_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 -0.08"
        rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.16" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_shoulder_yaw"
    type="revolute">
    <origin
      xyz="0 0 -0.1343"
      rpy="0 0 0" />
    <parent
      link="left_shoulder_roll_link" />
    <child
      link="left_shoulder_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.3"
      upper="4.45"
      effort="18"
      velocity="20" />
  </joint>
  <link
    name="left_elbow_link">
    <inertial>
      <origin
        xyz="0.15908 -0.000144 -0.015776"
        rpy="0 0 0" />
      <mass
        value="0.669" />
      <inertia
        ixx="0.00042388"
        ixy="-3.6086E-05"
        ixz="0.00029293"
        iyy="0.0060062"
        iyz="4.664E-06"
        izz="0.0060023" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/left_elbow_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0.18 0 -0.013"
        rpy="0 0 0" />
      <geometry>
        <box size="0.28 0.06 0.06" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_elbow"
    type="revolute">
    <origin
      xyz="0.0185 0 -0.198"
      rpy="0 0 0" />
    <parent
      link="left_shoulder_yaw_link" />
    <child
      link="left_elbow_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.25"
      upper="2.61"
      effort="18"
      velocity="20" />
  </joint>

  <!-- left wrist -->
  <link name="left_wrist_pitch_link">
    <!-- <inertial>
      <origin xyz="0.020395 0.000036 -0.002973" rpy="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0.000071364" ixy="0.000000308" ixz="0.000001485" iyy="0.000069915" iyz="-0.000000088" izz="0.000070702"/>
    </inertial> -->
    <visual>
      <geometry>
        <sphere radius="0.0001"/>
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <sphere radius="0.0001"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="left_wrist_pitch" type="fixed">
    <origin xyz="0.28 0 -0.02" rpy="0 0 0"/>
    <parent link="left_elbow_link"/>
    <child link="left_wrist_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
  </joint>

  <link
    name="right_shoulder_pitch_link">
    <inertial>
      <origin
        xyz="0.005045 -0.053657 -0.015715"
        rpy="0 0 0" />
      <mass
        value="1.033" />
      <inertia
        ixx="0.0012985"
        ixy="1.7333E-05"
        ixz="8.683E-06"
        iyy="0.00087279"
        iyz="-3.9656E-05"
        izz="0.00097338" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_pitch_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <!-- <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_pitch_link.STL" />
      </geometry> -->
    </collision>
  </link>
  <joint
    name="right_shoulder_pitch"
    type="revolute">
    <origin
      xyz="0.0055 -0.15535 0.42999"
      rpy="-0.43633 0 0" />
    <parent
      link="torso_link" />
    <child
      link="right_shoulder_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.87"
      upper="2.87"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="right_shoulder_roll_link">
    <inertial>
      <origin
        xyz="0.000679 -0.00115 -0.094076"
        rpy="0 0 0" />
      <mass
        value="0.793" />
      <inertia
        ixx="0.0015742"
        ixy="-2.298E-06"
        ixz="-7.2265E-05"
        iyy="0.0016973"
        iyz="6.3691E-05"
        izz="0.0010183" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_roll_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 -0.045"
        rpy="0 0 0" />
      <geometry>
        <box size="0.09 0.09 0.16" />  <!-- r = 0.1 -->
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_roll"
    type="revolute">
    <origin
      xyz="-0.0055 -0.0565 -0.0165"
      rpy="0.43633 0 0" />
    <parent
      link="right_shoulder_pitch_link" />
    <child
      link="right_shoulder_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-3.11"
      upper="0.34"
      effort="40"
      velocity="9" />
  </joint>
  <link
    name="right_shoulder_yaw_link">
    <inertial>
      <origin
        xyz="0.01365 -0.002767 -0.16266"
        rpy="0 0 0" />
      <mass
        value="0.839" />
      <inertia
        ixx="0.003664"
        ixy="1.0671E-05"
        ixz="0.00034733"
        iyy="0.0040789"
        iyz="-7.0213E-05"
        izz="0.00066383" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_shoulder_yaw_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 -0.08"
        rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.16" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_shoulder_yaw"
    type="revolute">
    <origin
      xyz="0 0 -0.1343"
      rpy="0 0 0" />
    <parent
      link="right_shoulder_roll_link" />
    <child
      link="right_shoulder_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-4.45"
      upper="1.3"
      effort="18"
      velocity="20" />
  </joint>
  <link
    name="right_elbow_link">
    <inertial>
      <origin
        xyz="0.15908 0.000144 -0.015776"
        rpy="0 0 0" />
      <mass
        value="0.669" />
      <inertia
        ixx="0.00042388"
        ixy="3.6086E-05"
        ixz="0.00029293"
        iyy="0.0060062"
        iyz="-4.664E-06"
        izz="0.0060023" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/right_elbow_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="0.1 0.1 0.1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0.18 0 -0.013"
        rpy="0 0 0" />
      <geometry>
        <box size="0.28 0.06 0.06" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_elbow"
    type="revolute">
    <origin
      xyz="0.0185 0 -0.198"
      rpy="0 0 0" />
    <parent
      link="right_shoulder_yaw_link" />
    <child
      link="right_elbow_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.25"
      upper="2.61"
      effort="18"
      velocity="20" />
  </joint>

  <!-- right wrist -->
  <link name="right_wrist_pitch_link">
    <!-- <inertial>
      <origin xyz="0.020395 0.000036 -0.002973" rpy="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="0.000071364" ixy="0.000000308" ixz="0.000001485" iyy="0.000069915" iyz="-0.000000088" izz="0.000070702"/>
    </inertial> -->
    <visual>
      <geometry>
        <sphere radius="0.0001"/>
      </geometry>
    </visual>
    <!-- <collision>
      <geometry>
        <sphere radius="0.0001"/>
      </geometry>
    </collision> -->
  </link>
  <joint name="right_wrist_pitch" type="fixed">
    <origin xyz="0.28 0 -0.02" rpy="0 0 0"/>
    <parent link="right_elbow_link"/>
    <child link="right_wrist_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.47" upper="0.47" effort="19" velocity="31.4"/>
  </joint>

  <link name="imu_link"></link>
  <joint
    name="imu"
    type="fixed">
    <origin
      xyz="-0.04452 -0.01891 0.27756"
      rpy="0 0 0" />
    <parent
      link="torso_link" />
    <child
      link="imu_link" />
  </joint>
  <link
    name="logo_link">
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/logo_link.STL" />
      </geometry>
      <material
        name="white">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
  </link>
  <joint
    name="logo"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="torso_link" />
    <child
      link="logo_link" />
    <axis
      xyz="0 0 0" />
  </joint>
</robot>