From 8fad065c6f8564fe9d4773572ab1ed52e2566453 Mon Sep 17 00:00:00 2001
From: Thomason Zhou <thomason.zhou@uwaterloo.ca>
Date: Mon, 10 Mar 2025 16:40:21 +0900
Subject: [PATCH] Format left urdf

---
 openarm_two_arms/urdf/openarm_left.urdf | 420 ++++++++++++------------
 1 file changed, 210 insertions(+), 210 deletions(-)

diff --git a/openarm_two_arms/urdf/openarm_left.urdf b/openarm_two_arms/urdf/openarm_left.urdf
index c5aedc0..5293c5f 100644
--- a/openarm_two_arms/urdf/openarm_left.urdf
+++ b/openarm_two_arms/urdf/openarm_left.urdf
@@ -1,216 +1,216 @@
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+      <!--J8 v003/Part__Feature025.-->
+      <origin rpy="1.570978323892347 0.02077671332575817 0" xyz="-0.557906 0.103687 0.0234745"/>
+      <geometry>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <!--bound_obj__left_link8__col_J8_v002__BoundBox/col_J8_v002__BoundBox.-->
+      <origin rpy="1.570978323892347 0.02077671332575817 0" xyz="0.0427524 -0.001079 0.0109925"/>
+      <geometry>
+        <box size="0.1302624002952524 0.052571684700854236 0.1601213740691585"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.3126145274380216"/>
+      <origin rpy="1.570978323892347 0.020776713325758166 0" xyz="0.0607568 -0.000722767 0.00876618"/>
+      <inertia ixx="0.00023572179169416507" ixy="-7.789320420216956e-05" ixz="-2.111587909476847e-06" iyy="0.0005055124180887915" iyz="-1.5449610531695725e-06" izz="0.0003736712654123388"/>
+    </inertial>
+  </link>
+  <link name="l_right_jaw_v004">
+    <visual>
+      <!--right_jaw v004/Part__Feature027.-->
+      <origin rpy="3.141592653589774 0.008758182895214187 0" xyz="-0.662074 0.00352188 0.18819"/>
+      <geometry>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <!--bound_obj__left_right_jaw__col_right_jaw_v002_col_obj/col_right_jaw_v002_col_obj.-->
+      <origin rpy="3.141592653589774 0.00875818289521427 0" xyz="-0.662074 0.00352188 0.18819"/>
+      <geometry>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.042981665301134495"/>
+      <origin rpy="3.141592653589774 0.008758182895214186 0" xyz="0.0189546 -0.00337688 0.0156207"/>
+      <inertia ixx="1.1399290012366144e-05" ixy="2.1100277903741056e-06" ixz="3.6731039885335394e-06" iyy="2.38634020443188e-05" iyz="-3.5503706410916235e-07" izz="3.0396785775073194e-05"/>
+    </inertial>
+  </link>
+  <link name="l_left_jaw_v004">
+    <visual>
+      <!--left_jaw v004/Part__Feature026.-->
+      <origin rpy="3.141592653589789 0.00875818289443215 0" xyz="-0.664789 0.00352188 0.0332134"/>
+      <geometry>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <!--bound_obj__left_left_jaw__col_left_jaw_v002_col_obj/col_left_jaw_v002_col_obj.-->
+      <origin rpy="3.141592653589789 0.008758182894432077 0" xyz="-0.664789 0.00352188 0.0332134"/>
+      <geometry>
+        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.04297897856394934"/>
+      <origin rpy="3.141592653589789 0.008758182894432148 0" xyz="0.0184958 0.00151751 -0.0162764"/>
+      <inertia ixx="1.195285836430737e-05" ixy="-2.8053920115195855e-06" ixz="-3.983934744055433e-06" iyy="2.3656009736974273e-05" iyz="-4.864815166189635e-07" izz="3.047484533653199e-05"/>
+    </inertial>
+  </link>
+  <joint name="left_rev1" type="revolute">
     <parent link="l_base_link001"/>
     <child link="l_J2_v003"/>
     <origin rpy="-3.1415926535897922 0 -3.1415926535897927" xyz="0.0 0.0 -0.05325"/>