<?xml version="1.0" ?>
<robot name="openarm_two_arms">
  <link name="l_J1_v002">
    <visual>
      <!--J1 v002/Part__Feature001.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
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  <link name="l_J2_v002">
    <visual>
      <!--J2 v002/Part__Feature002.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
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    <collision>
      <!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
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  </link>
  <link name="l_J3_v003">
    <visual>
      <!--J3 v003/Part__Feature003.-->
      <origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
      <origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
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  <link name="l_J4_v002">
    <visual>
      <!--J4 v002/Part__Feature004.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
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  </link>
  <link name="l_J5_v003">
    <visual>
      <!--J5 v003/Part__Feature005.-->
      <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
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  </link>
  <link name="l_J6_right_wrist">
    <visual>
      <!--J6 right_wrist/Part__Feature006.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
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    <collision>
      <!--bound_obj__right_link6__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
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  </link>
  <link name="l_J7_v002">
    <visual>
      <!--J7 right v002/Part__Feature007.-->
      <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__right_link7__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
      <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
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  </link>
  <link name="l_J8_v002">
    <visual>
      <!--J8 v002/Part__Feature008.-->
      <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__right_link8__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
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  </link>
  <link name="l_left_jaw_v002">
    <visual>
      <!--left_jaw v002/Part__Feature009.-->
      <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
      <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
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  </link>
  <link name="l_right_jaw_v002">
    <visual>
      <!--right_jaw v002/Part__Feature010.-->
      <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
      </geometry>
    </visual>
    <collision>
      <!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
      <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
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  </link>
  <joint name="right_rev1" type="revolute">
    <parent link="l_J1_v002"/>
    <child link="l_J2_v002"/>
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  <joint name="right_rev2" type="revolute">
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    <child link="l_J3_v003"/>
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  <joint name="right_rev3" type="revolute">
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    <child link="l_J4_v002"/>
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  <joint name="right_rev4" type="revolute">
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  <joint name="right_rev5" type="revolute">
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    <child link="l_J6_right_wrist"/>
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  <joint name="right_rev6" type="revolute">
    <parent link="l_J6_right_wrist"/>
    <child link="l_J7_v002"/>
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  <joint name="right_rev7" type="revolute">
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    <child link="l_J8_v002"/>
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  <joint name="right_left_pris1" type="prismatic">
    <parent link="l_J8_v002"/>
    <child link="l_left_jaw_v002"/>
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  <joint name="right_right_pris2" type="prismatic">
    <parent link="l_J8_v002"/>
    <child link="l_right_jaw_v002"/>
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    <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
  </joint>
</robot>
