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        <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="right_fix1" type="fixed">
    <parent link="pedestal_link"/>
    <child link="l_J1_v002"/>
    <origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
  </joint>
  <joint name="right_rev1" type="revolute">
    <parent link="l_J1_v002"/>
    <child link="l_J2_v002"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="right_rev2" type="revolute">
    <parent link="l_J2_v002"/>
    <child link="l_J3_v003"/>
    <origin rpy="-1.5707963267948968 0 0" xyz="0.0 -0.02975 0.04475"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0.0" upper="3.141592653589793" velocity="0.0"/>
  </joint>
  <joint name="right_rev3" type="revolute">
    <parent link="l_J3_v003"/>
    <child link="l_J4_v002"/>
    <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
  </joint>
  <joint name="right_rev4" type="revolute">
    <parent link="l_J4_v002"/>
    <child link="l_J5_v003"/>
    <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
  </joint>
  <joint name="right_rev5" type="revolute">
    <parent link="l_J5_v003"/>
    <child link="l_J6_right_wrist"/>
    <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="right_rev6" type="revolute">
    <parent link="l_J6_right_wrist"/>
    <child link="l_J7_v002"/>
    <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
  </joint>
  <joint name="right_rev7" type="revolute">
    <parent link="l_J7_v002"/>
    <child link="l_J8_v002"/>
    <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
  </joint>
  <joint name="right_left_pris1" type="prismatic">
    <parent link="l_J8_v002"/>
    <child link="l_left_jaw_v002"/>
    <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
  </joint>
  <joint name="right_right_pris2" type="prismatic">
    <parent link="l_J8_v002"/>
    <child link="l_right_jaw_v002"/>
    <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
    <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
  </joint>
  <joint name="left_fix1" type="fixed">
    <parent link="pedestal_link"/>
    <child link="l_base_link001"/>
    <origin rpy="3.0186531925068127 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>
  </joint>
  <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"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="left_rev2" type="revolute">
    <parent link="l_J2_v003"/>
    <child link="l_J3_v004"/>
    <origin rpy="-1.570796326794897 0 0" xyz="0.0 0.02975 0.04475"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-3.141592653589793" upper="0.0" velocity="0.0"/>
  </joint>
  <joint name="left_rev3" type="revolute">
    <parent link="l_J3_v004"/>
    <child link="l_J4_v003"/>
    <origin rpy="1.5707963267949063 0 1.5620381439005797" xyz="0.0612477 -0.000536432 -0.02975"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
  </joint>
  <joint name="left_rev4" type="revolute">
    <parent link="l_J4_v003"/>
    <child link="l_J5_v004"/>
    <origin rpy="-3.0383286058327292 -1.5707963267948855 3.038328605832587" xyz="0.0297547 0.0 0.24175"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.792526803190927" upper="0.3490658503988659" velocity="0.0"/>
  </joint>
  <joint name="left_rev5" type="revolute">
    <parent link="l_J5_v004"/>
    <child link="l_J6_Left_v004"/>
    <origin rpy="-1.5707963267949232 0.55693325005308 -1.5567303253382712" xyz="0.133937 0.00188408 0.0297547"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
  </joint>
  <joint name="left_rev6" type="revolute">
    <parent link="l_J6_Left_v004"/>
    <child link="l_J7_Left_v004"/>
    <origin rpy="1.5707963267870033 -1.5567303253382319 -0.5569332500457352" xyz="0.0187648 0.0301352 0.12105"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
  </joint>
  <joint name="left_rev7" type="revolute">
    <parent link="l_J7_Left_v004"/>
    <child link="l_J8_v003"/>
    <origin rpy="-1.5707963267949518 0.008760073613296379 0.020777510312798276" xyz="0.000320989 -0.0154467 0.0355"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
  </joint>
  <joint name="left_left_pris1" type="prismatic">
    <parent link="l_J8_v003"/>
    <child link="l_left_jaw_v004"/>
    <origin rpy="1.5707963267947693 0.020777510312786344 -0.008760073612368274" xyz="0.10571 -0.0786733 0.0132053"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="-0.045" upper="0.0" velocity="0.0"/>
  </joint>
  <joint name="left_right_pris2" type="prismatic">
    <parent link="l_J8_v003"/>
    <child link="l_right_jaw_v004"/>
    <origin rpy="1.5707963267948966 0.020777510312787576 -0.008760073613237863" xyz="0.1071 0.0763207 0.0132053"/>
    <axis xyz="0 0 1"/>
    <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
    <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
  </joint>
</robot>
