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kamiradi/nextstage.urdf

Created April 4, 2023 17:11
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`drake` unable to instantiate joint actuators when loading the following `urdf`
Raw
nextstage.urdf
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This is a newer version of the Nextage robot from Vlad's git repo | -->
<!-- | The urdf is compiled from xarco file, which is problematic to pybullet | -->
<!-- | This document was autogenerated by xacro from NextageAOpen.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Note: in this urdf, there are 1 plus joint, 17 in total, "base_to_dummy" | -->
<!-- =================================================================================== -->
<robot name="NextageAOpen"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xi="http://www.w3.org/2001/xinclude">
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="LightGrey">
<color rgba="0.6 0.6 0.6 1.0"/>
</material>
<material name="Grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="base_link"/>
<joint name="base_to_dummy" type="fixed">
<parent link="base_link"/>
<child link="nextage_base"/>
</joint>
<link name="nextage_base">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/BASE_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.19 0 -0.435"/>
<geometry>
<box size="0.585 0.585 0.72"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0675 0.2575 -0.82"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0675 -0.2575 -0.82"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.4475 0.2575 -0.82"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.4475 -0.2575 -0.82"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="40"/>
<origin rpy="0 0 0" xyz="-0.19 0 -0.435"/>
<inertia ixx="2.86875" ixy="0.0" ixz="0.0" iyy="2.86875" iyz="0.0" izz="2.2815"/>
</inertial>
</link>
<joint name="base_to_waist" type="fixed">
<parent link="nextage_base"/>
<child link="WAIST"/>
</joint>
<link name="WAIST">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/WAIST_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0 0.098"/>
<geometry>
<cylinder length="0.376" radius="0.06"/>
</geometry>
</collision>
<inertial>
<mass value="5"/>
<origin rpy="0 0 0" xyz="0 0 0.15"/>
<inertia ixx="0.05416666666666667" ixy="0.0" ixz="0.0" iyy="0.05416666666666667" iyz="0.0" izz="0.03333333333333334"/>
</inertial>
</link>
<link name="CHEST_JOINT0_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/CHEST_JOINT0_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<geometry>
<cylinder length="0.385" radius="0.08"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.04 0.135 0.0423"/>
<geometry>
<cylinder length="0.09" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.04 -0.135 0.0423"/>
<geometry>
<cylinder length="0.09" radius="0.05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<geometry>
<box size="0.23 0.18 0.12"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.04 0 0.2325"/>
<geometry>
<box size="0.25 0.18 0.245"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-0.1525 0 0.279"/>
<geometry>
<box size="0.17 0.29 0.225"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.03 0 0.315"/>
<geometry>
<box size="0.085 0.5 0.0365"/>
</geometry>
</collision>
<inertial>
<mass value="10.0"/>
<origin rpy="0 -0 0" xyz="0 0 0.2"/>
<inertia ixx="0.12708333333333333" ixy="0.0" ixz="0.0" iyy="0.12708333333333333" iyz="0.0" izz="0.10416666666666667"/>
</inertial>
</link>
<link name="HEAD_JOINT0_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/HEAD_JOINT0_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="1.57079 0 0" xyz="0 0.01 0.08"/>
<geometry>
<cylinder length="0.135" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="0.317929"/>
<origin rpy="0 -0 0" xyz="0 0.00547848 0"/>
<inertia ixx="0.0005298816666666668" ixy="0.0" ixz="0.0" iyy="0.0005298816666666668" iyz="0.0" izz="0.0005298816666666668"/>
</inertial>
</link>
<link name="HEAD_JOINT1_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/HEAD_JOINT1_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0.26 0" xyz="-0.05 0 0.12"/>
<geometry>
<box size="0.27 0.22 0.115"/>
</geometry>
</collision>
<inertial>
<mass value="0.4"/>
<origin rpy="0 0.26 0" xyz="-0.05 0 0.12"/>
<inertia ixx="0.002054166666666667" ixy="0.0" ixz="0.0" iyy="0.0028708333333333333" iyz="0.0" izz="0.004043333333333334"/>
</inertial>
</link>
<link name="LARM_JOINT0_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT0_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.00775 0.095"/>
<geometry>
<box size="0.1 0.0815 0.19"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079 0 0" xyz="0 0.0875 0.066"/>
<geometry>
<cylinder length="0.175" radius="0.042"/>
</geometry>
</collision>
<collision>
<origin rpy="-0.7 0 0" xyz="0 0.125 0.145"/>
<geometry>
<box size="0.048 0.1 0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1.32626"/>
<origin rpy="0 -0 0" xyz="0.0 0.05 0.05"/>
<inertia ixx="0.00207537" ixy="0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="-4.57e-05" izz="0.00141912"/>
</inertial>
</link>
<link name="LARM_JOINT1_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT1_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0.3 0" xyz="-0.043 0.12 -0.13"/>
<geometry>
<box size="0.08 0.11 0.28"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0.45 0" xyz="-0.03 0.0518 -0.236"/>
<geometry>
<box size="0.122 0.0338 0.062"/>
</geometry>
</collision>
<inertial>
<mass value="1.14898"/>
<origin rpy="0 -0 0" xyz="-0.04 0.1 -0.12"/>
<inertia ixx="0.0154168" ixy="9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="0.00213719" izz="0.0012658"/>
</inertial>
</link>
<link name="LARM_JOINT2_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT2_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="1.57079 0 0" xyz="0 0.025 0"/>
<geometry>
<cylinder length="0.11" radius="0.049"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0945 0.015 -0.03"/>
<geometry>
<box size="0.119 0.125 0.1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079 0" xyz="0.17 0 -0.03"/>
<geometry>
<cylinder length="0.04" radius="0.047"/>
</geometry>
</collision>
<inertial>
<mass value="0.577518"/>
<origin rpy="0 -0 0" xyz="0.1 0.01167107 -0.04"/>
<inertia ixx="0.00143966" ixy="-3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="-7.596e-05" izz="0.0001972"/>
</inertial>
</link>
<link name="LARM_JOINT3_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT3_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="1.57079 0 0" xyz="0.1495 -0.003 0"/>
<geometry>
<cylinder length="0.12" radius="0.035"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079 0" xyz="0.075 0.0 0.018"/>
<geometry>
<cylinder length="0.15" radius="0.04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0585 0.01 0.0185"/>
<geometry>
<box size="0.093 0.112 0.037"/>
</geometry>
</collision>
<inertial>
<mass value="0.457418"/>
<origin rpy="0 -0 0" xyz="0.1 -0.00395812 -0.00273"/>
<inertia ixx="0.00069205" ixy="3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="-1.915e-05" izz="0.00013509"/>
</inertial>
</link>
<link name="LARM_JOINT4_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT4_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.002 -0.06"/>
<geometry>
<box size="0.04 0.118 0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.08" radius="0.037"/>
</geometry>
</collision>
<inertial>
<mass value="0.418434"/>
<origin rpy="0 -0 0" xyz="0.00243131 0.00379733 -0.0577036"/>
<inertia ixx="0.00052016" ixy="1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="-5.377e-05" izz="0.00014004"/>
</inertial>
</link>
<link name="LARM_JOINT5_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/LARM_JOINT5_Link_mesh.obj"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/L_CAM.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<cylinder length="0.07" radius="0.037"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0525 0.029 -0.02"/>
<geometry>
<box size="0.057 0.106 0.042"/>
</geometry>
</collision>
<inertial>
<mass value="1.05156"/>
<origin rpy="0 -0 0" xyz="0.0 0.0 -0.08"/>
<inertia ixx="0.00194072" ixy="1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="1.2e-07" izz="0.00035788"/>
</inertial>
</link>
<link name="RARM_JOINT0_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT0_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.00775 0.095"/>
<geometry>
<box size="0.1 0.0815 0.19"/>
</geometry>
</collision>
<collision>
<origin rpy="1.57079 0 0" xyz="0 -0.0875 0.066"/>
<geometry>
<cylinder length="0.175" radius="0.042"/>
</geometry>
</collision>
<collision>
<origin rpy="0.7 0 0" xyz="0 -0.125 0.145"/>
<geometry>
<box size="0.048 0.1 0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1.32626"/>
<origin rpy="0 -0 0" xyz="0.0 -0.05 0.05"/>
<inertia ixx="0.00207537" ixy="-0.00011276" ixz="8.927e-05" iyy="0.00240295" iyz="4.57e-05" izz="0.00141912"/>
</inertial>
</link>
<link name="RARM_JOINT1_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT1_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0.3 0" xyz="-0.043 -0.12 -0.13"/>
<geometry>
<box size="0.08 0.11 0.28"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0.45 0" xyz="-0.03 -0.0518 -0.236"/>
<geometry>
<box size="0.122 0.0338 0.062"/>
</geometry>
</collision>
<inertial>
<mass value="1.14898"/>
<origin rpy="0 -0 0" xyz="-0.04 -0.1 -0.12"/>
<inertia ixx="0.0154168" ixy="-9.95417e-07" ixz="3.38147e-06" iyy="0.0147117" iyz="-0.00213719" izz="0.0012658"/>
</inertial>
</link>
<link name="RARM_JOINT2_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT2_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="1.57079 0 0" xyz="0 -0.025 0"/>
<geometry>
<cylinder length="0.11" radius="0.049"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0945 -0.015 -0.03"/>
<geometry>
<box size="0.119 0.125 0.1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079 0" xyz="0.17 0 -0.03"/>
<geometry>
<cylinder length="0.04" radius="0.047"/>
</geometry>
</collision>
<inertial>
<mass value="0.577518"/>
<origin rpy="0 -0 0" xyz="0.1 -0.01167107 -0.04"/>
<inertia ixx="0.00143966" ixy="3e-07" ixz="1.2e-06" iyy="0.00141763" iyz="7.596e-05" izz="0.0001972"/>
</inertial>
</link>
<link name="RARM_JOINT3_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT3_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="1.57079 0 0" xyz="0.1495 -0.003 0"/>
<geometry>
<cylinder length="0.12" radius="0.035"/>
</geometry>
</collision>
<collision>
<origin rpy="0 1.57079 0" xyz="0.075 0.0 0.018"/>
<geometry>
<cylinder length="0.15" radius="0.04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0585 -0.01 0.0185"/>
<geometry>
<box size="0.093 0.112 0.037"/>
</geometry>
</collision>
<inertial>
<mass value="0.457418"/>
<origin rpy="0 -0 0" xyz="0.1 0.00395812 -0.00273"/>
<inertia ixx="0.00069205" ixy="-3e-08" ixz="5.2e-07" iyy="0.00068903" iyz="1.915e-05" izz="0.00013509"/>
</inertial>
</link>
<link name="RARM_JOINT4_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT4_Link_mesh.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.002 -0.06"/>
<geometry>
<box size="0.04 0.118 0.06"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.08"/>
<geometry>
<cylinder length="0.08" radius="0.037"/>
</geometry>
</collision>
<inertial>
<mass value="0.418434"/>
<origin rpy="0 -0 0" xyz="0.00243131 -0.00379733 -0.0577036"/>
<inertia ixx="0.00052016" ixy="-1.69e-06" ixz="7.9e-06" iyy="0.00050569" iyz="5.377e-05" izz="0.00014004"/>
</inertial>
</link>
<link name="RARM_JOINT5_Link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/RARM_JOINT5_Link_mesh.obj"/>
</geometry>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://nextagea_description/urdf/meshes/R_CAM.obj"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.02"/>
<geometry>
<cylinder length="0.07" radius="0.037"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.0525 -0.029 -0.02"/>
<geometry>
<box size="0.057 0.106 0.042"/>
</geometry>
</collision>
<inertial>
<mass value="1.05156"/>
<origin rpy="0 -0 0" xyz="0.0 0.0 -0.08"/>
<inertia ixx="0.00194072" ixy="-1.1e-07" ixz="-0.00042482" iyy="0.00209392" iyz="-1.2e-07" izz="0.00035788"/>
</inertial>
</link>
<joint name="CHEST_JOINT0" type="revolute">
<parent link="WAIST"/>
<child link="CHEST_JOINT0_Link"/>
<origin rpy="0 0 0" xyz="0 0 0.267"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-3.14159" upper="3.14159" velocity="1.0"/>
<dynamics damping="0.2" friction="0"/>
</joint>
<joint name="HEAD_JOINT0" type="revolute">
<parent link="CHEST_JOINT0_Link"/>
<child link="HEAD_JOINT0_Link"/>
<origin rpy="0 0 0" xyz="0 0 0.302"/>
<axis xyz="0 0 1"/>
<limit effort="100" lower="-1.22173" upper="1.22173" velocity="1.0"/>
</joint>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_JOINT0_Link"/>
<child link="HEAD_JOINT1_Link"/>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<axis xyz="0 1 0"/>
<limit effort="100" lower="-0.401425" upper="1.308997" velocity="1.0"/>
</joint>
<joint name="LARM_JOINT0" type="revolute">
<parent link="CHEST_JOINT0_Link"/>
<child link="LARM_JOINT0_Link"/>
<origin rpy="0 0 0" xyz="0.04 0.135 0.1015"/>
<axis xyz="0 0 1"/>
<limit effort="150" lower="-1.5707963" upper="1.5707963" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="LARM_JOINT1" type="revolute">
<parent link="LARM_JOINT0_Link"/>
<child link="LARM_JOINT1_Link"/>
<origin rpy="0 0 0" xyz="0 0 0.066"/>
<axis xyz="0 1 0"/>
<limit effort="150" lower="-2.44346" upper="1.0471975" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="LARM_JOINT2" type="revolute">
<parent link="LARM_JOINT1_Link"/>
<child link="LARM_JOINT2_Link"/>
<origin rpy="0 0 0" xyz="0 0.095 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="150" lower="-1.22173" upper="1.5707963" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="LARM_JOINT3" type="revolute">
<parent link="LARM_JOINT2_Link"/>
<child link="LARM_JOINT3_Link"/>
<origin rpy="0 0 0" xyz="0.1805 0 -0.03"/>
<axis xyz="1 0 0"/>
<limit effort="150" lower="-3.1415926" upper="1.7453292" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="LARM_JOINT4" type="revolute">
<parent link="LARM_JOINT3_Link"/>
<child link="LARM_JOINT4_Link"/>
<origin rpy="0 0 0" xyz="0.1495 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="150" lower="-3.57792" upper="1.134464" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="LARM_JOINT5" type="revolute">
<parent link="LARM_JOINT4_Link"/>
<child link="LARM_JOINT5_Link"/>
<origin rpy="0 0 0" xyz="0 0 -0.1335"/>
<axis xyz="0 0 1"/>
<limit effort="150" lower="-2.7123889" upper="2.7123889" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="RARM_JOINT0" type="revolute">
<parent link="CHEST_JOINT0_Link"/>
<child link="RARM_JOINT0_Link"/>
<origin rpy="0 0 0" xyz="0.04 -0.135 0.1015"/>
<axis xyz="0 0 1"/>
<limit effort="150" lower="-1.570796" upper="1.570796" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="RARM_JOINT1" type="revolute">
<parent link="RARM_JOINT0_Link"/>
<child link="RARM_JOINT1_Link"/>
<origin rpy="0 0 0" xyz="0 0 0.066"/>
<axis xyz="0 1 0"/>
<limit effort="150" lower="-2.44346" upper="1.047197" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="RARM_JOINT2" type="revolute">
<parent link="RARM_JOINT1_Link"/>
<child link="RARM_JOINT2_Link"/>
<origin rpy="0 0 0" xyz="0 -0.095 -0.25"/>
<axis xyz="0 1 0"/>
<limit effort="150" lower="-1.22173" upper="1.570796" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="RARM_JOINT3" type="revolute">
<parent link="RARM_JOINT2_Link"/>
<child link="RARM_JOINT3_Link"/>
<origin rpy="0 0 0" xyz="0.1805 0 -0.03"/>
<axis xyz="1 0 0"/>
<limit effort="150" lower="-1.74532" upper="3.141592" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="RARM_JOINT4" type="revolute">
<parent link="RARM_JOINT3_Link"/>
<child link="RARM_JOINT4_Link"/>
<origin rpy="0 0 0" xyz="0.1495 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="150" lower="-3.5779" upper="1.134464" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
<joint name="RARM_JOINT5" type="revolute">
<parent link="RARM_JOINT4_Link"/>
<child link="RARM_JOINT5_Link"/>
<origin rpy="0 0 0" xyz="0 0 -0.1335"/>
<axis xyz="0 0 1"/>
<limit effort="150" lower="-2.712388" upper="2.712388" velocity="1.0"/>
<dynamics damping="0.5" friction="0.0"/>
</joint>
</robot>
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