iCub.urdf

<?xml version="1.0"?>
<robot name="ICub">


   <link name="base_link">
      <origin rpy="0 0 0" xyz="0 0 0"/>
   </link>

<!-- HEAD AND WAIST -->

   <link name="l0">
      <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/l0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l1">
      <visual>
         <origin rpy="1.5708 0 0" xyz="0.033 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l2">
      <visual>
         <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.0055"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l3">
      <visual>
         <origin rpy="-1.5708 0 -1.5708" xyz="0 -0.0046 -0.223"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l4">
      <visual>
         <origin rpy="1.5708 0 1.5708" xyz="0 0.0099 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l5">
      <visual>
         <origin rpy="-1.5708 0 -1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l5.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l6">
      <visual>
      <origin rpy="-1.5708 0 1.5708" xyz="0 -0.05150 0.082"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l6_.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l7">
   </link>

   <link name="l8">
      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l8.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="l7s">
   </link>

   <link name="l8s">
      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/l8.dae"/>
         </geometry>
      </visual>
   </link>

<!-- RIGHT ARM -->

   <link name="ra0">
      <visual>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ra1">
      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.1077"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ra2">
      <visual>
      <origin rpy="-1.5708 0 -1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ra3">
      <visual>
      <origin rpy="-1.5708 0 -1.5708" xyz="0.0039 0.0145 -0.15725"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ra4">
      <visual>
      <origin rpy="1.5708 0 0" xyz="0.015 0 -0.004"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ra5">
      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.141"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra5.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ra6">
      <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/ra6.dae"/>
         </geometry>
      </visual>
   </link>

<!-- LEFT ARM -->

   <link name="la0">
      <visual>
         <geometry>
            <mesh filename="package://icub_description/meshes/la0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="la1">
      <visual>
      <origin rpy="-1.5708 0 1.5708" xyz="0 0 0.1077"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/la1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="la2">
      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/la2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="la3">
      <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0.0039 0.0145 0.15725"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/la3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="la4">
      <visual>
      <origin rpy="1.5708 0 0" xyz="-0.015 0 -0.004"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/la4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="la5">
      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.141"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/la5.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="la6">
      <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
         <geometry>
            <mesh filename="package://icub_description/meshes/la6.dae"/>
         </geometry>
      </visual>
   </link>

<!-- RIGHT LEG -->

   <link name="rl0">

      <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="rl1">

      <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="rl2">

      <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0.002 0.008"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="rl3">

      <visual>
      <origin rpy="-1.5708 0 -1.5708" xyz="0 0 0.225"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="rl4">

      <visual>
      <origin rpy="3.1416 0 1.5708" xyz="0 -0.215 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="rl5">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl5.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="rl6">

      <visual>
      <origin rpy="3.1416 0 0" xyz="-0.041 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/rl6.dae"/>
         </geometry>
      </visual>
   </link>

<!-- LEFT LEG -->

   <link name="ll0">

      <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ll1">

      <visual>
      <origin rpy="-1.5708 0 1.5708" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ll2">

      <visual>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ll3">

      <visual>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 -0.225"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ll4">

      <visual>
      <origin rpy="3.1416 0 1.5708" xyz="0 -0.215 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ll5">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll5.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ll6">

      <visual>
      <origin rpy="0 0 0" xyz="-0.041 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ll6.dae"/>
         </geometry>
      </visual>
   </link>

<!-- RIGHT HAND -->

   <link name="right_palm">

      <visual>
      <origin rpy="0 0 3.1416" xyz="-0.0625 0 0.016"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/right_palm.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="thumbbase">
   </link>

   <link name="tl0">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/tl0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="tl1">

      <visual>
      <origin rpy="0 0 0" xyz="0.021 0 0.0056"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/tl1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="tl2">

      <visual>
      <origin rpy="0 0 0" xyz="0.026 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/tl2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="tl3">

      <visual>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/tl3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="tl4">

      <visual>
      <origin rpy="0 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/tl4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="indexbase">

      <visual>
      <origin rpy="0.0959 0 0.0175" xyz="0.0018 -0.027 -0.00375"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/indexbase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="il0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/il0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="il1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/il1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="il2">

      <visual>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/il2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="il3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/il3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="middlebase">

      <visual>
      <origin rpy="0 0 0" xyz="0.0028 -0.01 -0.005"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/middlebase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ml0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.015 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ml0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ml1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0285 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ml1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ml2">

      <visual>
      <origin rpy="0 0 0" xyz="0.0240 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ml2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ml3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ml3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ringbase">

      <visual>
      <origin rpy="0.0873 0 0.0087" xyz="0.00165 0.0059 -0.00425"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ringbase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ril0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ril0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ril1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ril1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ril2">

      <visual>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ril2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ril3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ril3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="littlebase">

      <visual>
      <origin rpy="0.0873 0 0.0175" xyz="-0.00025 0.02475 -0.0025"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/littlebase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lil0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lil0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lil1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0218 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lil1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lil2">

      <visual>
      <origin rpy="0 0 0" xyz="0.019 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lil2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lil3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lil3.dae"/>
         </geometry>
      </visual>
   </link>

<!-- LEFT HAND -->

   <link name="left_palm">

      <visual>
      <origin rpy="0 0 0" xyz="-0.0625 0 0.016"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/left_palm.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lthumbbase">
   </link>

   <link name="ltl0">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ltl0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ltl1">

      <visual>
      <origin rpy="0 0 0" xyz="0.021 0 -0.0056"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ltl1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ltl2">

      <visual>
      <origin rpy="0 0 0" xyz="0.026 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ltl2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ltl3">

      <visual>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ltl3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="ltl4">

      <visual>
      <origin rpy="0 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/ltl4.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lindexbase">

      <visual>
      <origin rpy="0.0959 0 -3.2141" xyz="-0.0018 -0.027 -0.00375"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lindexbase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lail0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lail0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lail1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lail1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lail2">

      <visual>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lail2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lail3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lail3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lmiddlebase">

      <visual>
      <origin rpy="0 0 3.1416" xyz="-0.0028 -0.01 -0.005"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lmiddlebase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lml0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.015 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lml0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lml1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0285 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lml1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lml2">

      <visual>
      <origin rpy="0 0 0" xyz="0.0240 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lml2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lml3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lml3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lringbase">

      <visual>
      <origin rpy="-0.0873 0 3.1329" xyz="-0.00165 0.0059 -0.00425"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lringbase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lril0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lril0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lril1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lril1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lril2">

      <visual>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lril2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="lril3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/lril3.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="llittlebase">

      <visual>
      <origin rpy="-0.0873 0 3.1241" xyz="0.00025 0.02475 -0.0025"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/llittlebase.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="llil0">

      <visual>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/llil0.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="llil1">

      <visual>
      <origin rpy="0 0 0" xyz="0.0218 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/llil1.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="llil2">

      <visual>
      <origin rpy="0 0 0" xyz="0.019 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/llil2.dae"/>
         </geometry>
      </visual>
   </link>

   <link name="llil3">

      <visual>
      <origin rpy="-1.5708 0 0" xyz="0.0168 0 0"/>
         <geometry>
	    <mesh filename="package://icub_description/meshes/llil3.dae"/>
         </geometry>
      </visual>
   </link>



	
<!-- ########################################################## JOINTS #########################################################
##################################################################################################################
##################################################################################################################
##################################################################################################################
##################################################################################################################
##################################################################################################################
################################################################################################################## -->

   <joint name="j0" type="fixed">
      <parent link="base_link"/>
      <child link="l0"/>
      <origin rpy="-1.5708 -1.5708 3.14159"/>
   </joint>

   <joint name="j1" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3840" upper="1.2217" velocity="0.5"/>
      <parent link="l0"/>
      <child link="l1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="j2" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="0.5236" velocity="0.5"/>
      <parent link="l1"/>
      <child link="l2"/>
      <origin rpy="1.5708 0 0" xyz="0.033 0 0"/>
   </joint>

   <joint name="j3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.8727" upper="0.8727" velocity="0.5"/>
      <parent link="l2"/>
      <child link="l3"/>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.0055"/>
   </joint>

   <joint name="j4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="0.3840" velocity="0.5"/>
      <parent link="l3"/>
      <child link="l4"/>
      <origin rpy="-1.5708 0 -1.5708" xyz="0 -0.0046 -0.223"/>
   </joint>

   <joint name="j5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3491" upper="0.3491" velocity="0.5"/>
      <parent link="l4"/>
      <child link="l5"/>
      <origin rpy="1.5708 0 1.5708" xyz="0 0.0099 0"/>
   </joint>

   <joint name="j6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.8727" upper="0.8727" velocity="0.5"/>
      <parent link="l5"/>
      <child link="l6"/>
      <origin rpy="-1.5708 0 -1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="j7" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="0.5236" velocity="0.5"/>
      <parent link="l6"/>
      <child link="l7"/>
      <origin rpy="-1.5708 0 1.5708" xyz="0 -0.05150 0.082"/>
   </joint>

   <joint name="j8" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="0.5236" velocity="0.5"/>
      <parent link="l7"/>
      <child link="l8"/>
      <origin rpy="-1.5708 0 0" xyz="0 0 0.034"/>
   </joint>

   <joint name="j7s" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="0.5236" velocity="0.5"/>
      <parent link="l6"/>
      <child link="l7s"/>
      <origin rpy="-1.5708 0 1.5708" xyz="0 -0.05150 0.082"/>
   </joint>

   <joint name="j8s" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="0.5236" velocity="0.5"/>
      <parent link="l7s"/>
      <child link="l8s"/>
      <origin rpy="-1.5708 0 0" xyz="0 0 -0.034"/>
   </joint>

   <joint name="raj0" type="fixed">
      <parent link="l4"/>
      <child link="ra0"/>
      <origin rpy="3.1416 0.2618 0" xyz="-0.0248786 -0.08 0.0060472"/>
   </joint>

   <joint name="raj1" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.6581" upper="0.1745" velocity="0.5"/>
      <parent link="ra0"/>
      <child link="ra1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="raj2" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="2.8065" velocity="0.5"/>
      <parent link="ra1"/>
      <child link="ra2"/>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.1077"/>
   </joint>

   <joint name="raj3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.6458" upper="1.3963" velocity="0.5"/>
      <parent link="ra2"/>
      <child link="ra3"/>
      <origin rpy="-1.5708 0 -1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="raj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0.2618" upper="1.8500" velocity="0.5"/>
      <parent link="ra3"/>
      <child link="ra4"/>
      <origin rpy="-1.5708 0 -1.5708" xyz="0.0039 0.0145 -0.15725"/>
   </joint>

   <joint name="raj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="0.5"/>
      <parent link="ra4"/>
      <child link="ra5"/>
      <origin rpy="1.5708 0 0" xyz="0.015 0 -0.004"/>
   </joint>

   <joint name="raj6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.5708" upper="0" velocity="0.5"/>
      <parent link="ra5"/>
      <child link="ra6"/>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.141"/>
   </joint>

   <joint name="laj0" type="fixed">
      <parent link="l4"/>
      <child link="la0"/>
      <origin rpy="0 2.8798 0" xyz="-0.0248786 -0.08 -0.0060472"/>
   </joint>

   <joint name="laj1" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.6581" upper="0.1745" velocity="0.5"/>
      <parent link="la0"/>
      <child link="la1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="laj2" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="2.8065" velocity="0.5"/>
      <parent link="la1"/>
      <child link="la2"/>
      <origin rpy="-1.5708 0 1.5708" xyz="0 0 0.1077"/>
   </joint>

   <joint name="laj3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.6458" upper="1.3963" velocity="0.5"/>
      <parent link="la2"/>
      <child link="la3"/>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="laj4" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="1000.0" lower="0.2618" upper="1.8500" velocity="0.5"/>
      <parent link="la3"/>
      <child link="la4"/>
      <origin rpy="1.5708 0 1.5708" xyz="0.0039 0.0145 0.15725"/>
   </joint>

   <joint name="laj5" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="1000.0" lower="-1.5708" upper="1.5708" velocity="0.5"/>
      <parent link="la4"/>
      <child link="la5"/>
      <origin rpy="1.5708 0 0" xyz="-0.015 0 -0.004"/>
   </joint>

   <joint name="laj6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.5708" upper="0" velocity="0.5"/>
      <parent link="la5"/>
      <child link="la6"/>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 -0.141"/>
   </joint>

   <joint name="rlaj0" type="fixed">
      <parent link="base_link"/>
      <child link="rl0"/>
      <origin rpy="1.5708 3.1416 3.14159" xyz="0 -0.0681 -0.1199"/>
   </joint>

   <joint name="rlaj1" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="1.5708" velocity="0.5"/>
      <parent link="rl0"/>
      <child link="rl1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="rlaj2" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="rl1"/>
      <child link="rl2"/>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="rlaj3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.3963" upper="1.3614" velocity="0.5"/>
      <parent link="rl2"/>
      <child link="rl3"/>
      <origin rpy="1.5708 0 1.5708" xyz="0 0.002 0.008"/>
   </joint>

   <joint name="rlaj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-2.0944" upper="0" velocity="0.5"/>
      <parent link="rl3"/>
      <child link="rl4"/>
      <origin rpy="-1.5708 0 -1.5708" xyz="0 0 0.225"/>
   </joint>

   <joint name="rlaj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3491" upper="0.6807" velocity="0.5"/>
      <parent link="rl4"/>
      <child link="rl5"/>
      <origin rpy="3.1416 0 1.5708" xyz="0 -0.215 0"/>
   </joint>

   <joint name="rlaj6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3840" upper="0.3840" velocity="0.5"/>
      <parent link="rl5"/>
      <child link="rl6"/>
      <origin rpy="1.5708 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="llaj0" type="fixed">
      <parent link="base_link"/>
      <child link="ll0"/>
      <origin rpy="1.5708 3.1416 3.14159" xyz="0 0.0681 -0.1199"/>
   </joint>

   <joint name="llaj1" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.5236" upper="1.5708" velocity="0.5"/>
      <parent link="ll0"/>
      <child link="ll1"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="llaj2" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ll1"/>
      <child link="ll2"/>
      <origin rpy="-1.5708 0 1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="llaj3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-1.3963" upper="1.3614" velocity="0.5"/>
      <parent link="ll2"/>
      <child link="ll3"/>
      <origin rpy="1.5708 0 -1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="llaj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-2.0944" upper="0" velocity="0.5"/>
      <parent link="ll3"/>
      <child link="ll4"/>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 -0.225"/>
   </joint>

   <joint name="llaj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3491" upper="0.6807" velocity="0.5"/>
      <parent link="ll4"/>
      <child link="ll5"/>
      <origin rpy="3.1416 0 1.5708" xyz="0 -0.215 0"/>
   </joint>

   <joint name="llaj6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3840" upper="0.3840" velocity="0.5"/>
      <parent link="ll5"/>
      <child link="ll6"/>
      <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
   </joint>

<!-- RIGHT HAND -->

   <joint name="right_wrist_yaw" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="-0.3491" upper="0.6981" velocity="0.5"/>
      <parent link="ra6"/>
      <child link="right_palm"/>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="tj1" type="fixed">
      <parent link="right_palm"/>
      <child link="thumbbase"/>
      <origin rpy="0 0 3.1416" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="tj2" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="thumbbase"/>
      <child link="tl0"/>
      <origin rpy="1.4922 0 -1.0733" xyz="-0.0239 -0.01235 0.005"/>
   </joint>

   <joint name="tj3" type="fixed">
      <parent link="tl0"/>
      <child link="tl1"/>
      <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="tj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="tl1"/>
      <child link="tl2"/>
      <origin rpy="0 0 0" xyz="0.021 0 0.0056"/>
   </joint>

   <joint name="tj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="tl2"/>
      <child link="tl3"/>
      <origin rpy="0 0 0" xyz="0.026 0 0"/>
   </joint>

   <joint name="tj6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="tl3"/>
      <child link="tl4"/>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
   </joint>

   <joint name="ij1" type="fixed">
      <parent link="right_palm"/>
      <child link="indexbase"/>
      <origin rpy="0 0 3.1416" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="ij2" type="fixed">
      <parent link="indexbase"/>
      <child link="il0"/>
      <origin rpy="0.0959 0 0.0175" xyz="0.0018 -0.027 -0.00375"/>
   </joint>

   <joint name="ij3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="il0"/>
      <child link="il1"/>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
   </joint>

   <joint name="ij4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="il1"/>
      <child link="il2"/>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
   </joint>

   <joint name="ij5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="il2"/>
      <child link="il3"/>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
   </joint>

   <joint name="mj1" type="fixed">
      <parent link="right_palm"/>
      <child link="middlebase"/>
      <origin rpy="0 0 3.1416" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="mj2" type="fixed">
      <parent link="middlebase"/>
      <child link="ml0"/>
      <origin rpy="0 0 0" xyz="0.0028 -0.01 -0.005"/>
   </joint>

   <joint name="mj3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ml0"/>
      <child link="ml1"/>
      <origin rpy="1.5708 0 0" xyz="0.015 0 0"/>
   </joint>

   <joint name="mj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ml1"/>
      <child link="ml2"/>
      <origin rpy="0 0 0" xyz="0.0285 0 0"/>
   </joint>

   <joint name="mj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ml2"/>
      <child link="ml3"/>
      <origin rpy="0 0 0" xyz="0.0240 0 0"/>
   </joint>

   <joint name="rij1" type="fixed">
      <parent link="right_palm"/>
      <child link="ringbase"/>
      <origin rpy="0 0 3.1416" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="rij2" type="fixed">
      <parent link="ringbase"/>
      <child link="ril0"/>
      <origin rpy="0.0873 0 0.0087" xyz="0.00165 0.0059 -0.00425"/>
   </joint>

   <joint name="rij3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ril0"/>
      <child link="ril1"/>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
   </joint>

   <joint name="rij4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ril1"/>
      <child link="ril2"/>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
   </joint>

   <joint name="rij5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ril2"/>
      <child link="ril3"/>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
   </joint>

   <joint name="lij1" type="fixed">
      <parent link="right_palm"/>
      <child link="littlebase"/>
      <origin rpy="0 0 3.1416" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="lij2" type="fixed">
      <parent link="littlebase"/>
      <child link="lil0"/>
      <origin rpy="0.0873 0 0.0175" xyz="-0.00025 0.02475 -0.0025"/>
   </joint>

   <joint name="lij3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lil0"/>
      <child link="lil1"/>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
   </joint>

   <joint name="lij4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lil1"/>
      <child link="lil2"/>
      <origin rpy="0 0 0" xyz="0.0218 0 0"/>
   </joint>

   <joint name="lij5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lil2"/>
      <child link="lil3"/>
      <origin rpy="0 0 0" xyz="0.019 0 0"/>
   </joint>

<!-- LEFT HAND -->

   <joint name="left_wrist_yaw" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="1000.0" lower="-0.3491" upper="0.6981" velocity="0.5"/>
      <parent link="la6"/>
      <child link="left_palm"/>
      <origin rpy="1.5708 0 1.5708" xyz="0 0 0"/>
   </joint>

   <joint name="ltj1" type="fixed">
      <parent link="left_palm"/>
      <child link="lthumbbase"/>
      <origin rpy="0 0 0" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="ltj2" type="revolute">
      <axis xyz="0 0 -1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lthumbbase"/>
      <child link="ltl0"/>
      <origin rpy="-1.4922 0 -2.0683" xyz="0.0239 -0.01235 0.005"/>
   </joint>

   <joint name="ltj3" type="fixed">
      <parent link="ltl0"/>
      <child link="ltl1"/>
      <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
   </joint>

   <joint name="ltj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ltl1"/>
      <child link="ltl2"/>
      <origin rpy="0 0 0" xyz="0.021 0 -0.0056"/>
   </joint>

   <joint name="ltj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ltl2"/>
      <child link="ltl3"/>
      <origin rpy="0 0 0" xyz="0.026 0 0"/>
   </joint>

   <joint name="ltj6" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="ltl3"/>
      <child link="ltl4"/>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
   </joint>

   <joint name="laij1" type="fixed">
      <parent link="left_palm"/>
      <child link="lindexbase"/>
      <origin rpy="0 0 0" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="laij2" type="fixed">
      <parent link="lindexbase"/>
      <child link="lail0"/>
      <origin rpy="0.0959 0 -3.1241" xyz="0.0018 -0.027 -0.00375"/>
   </joint>

   <joint name="laij3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lail0"/>
      <child link="lail1"/>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
   </joint>

   <joint name="laij4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lail1"/>
      <child link="lail2"/>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
   </joint>

   <joint name="laij5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lail2"/>
      <child link="lail3"/>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
   </joint>

   <joint name="lmj1" type="fixed">
      <parent link="left_palm"/>
      <child link="lmiddlebase"/>
      <origin rpy="0 0 0" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="lmj2" type="fixed">
      <parent link="lmiddlebase"/>
      <child link="lml0"/>
      <origin rpy="0 0 3.1416" xyz="-0.0028 -0.01 -0.005"/>
   </joint>

   <joint name="lmj3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lml0"/>
      <child link="lml1"/>
      <origin rpy="1.5708 0 0" xyz="0.015 0 0"/>
   </joint>

   <joint name="lmj4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lml1"/>
      <child link="lml2"/>
      <origin rpy="0 0 0" xyz="0.0285 0 0"/>
   </joint>

   <joint name="lmj5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lml2"/>
      <child link="lml3"/>
      <origin rpy="0 0 0" xyz="0.0240 0 0"/>
   </joint>

   <joint name="lrij1" type="fixed">
      <parent link="left_palm"/>
      <child link="lringbase"/>
      <origin rpy="0 0 0" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="lrij2" type="fixed">
      <parent link="lringbase"/>
      <child link="lril0"/>
      <origin rpy="-0.0873 0 3.1329" xyz="-0.00165 0.0059 -0.00425"/>
   </joint>

   <joint name="lrij3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lril0"/>
      <child link="lril1"/>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
   </joint>

   <joint name="lrij4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lril1"/>
      <child link="lril2"/>
      <origin rpy="0 0 0" xyz="0.0259 0 0"/>
   </joint>

   <joint name="lrij5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="lril2"/>
      <child link="lril3"/>
      <origin rpy="0 0 0" xyz="0.022 0 0"/>
   </joint>

   <joint name="llij1" type="fixed">
      <parent link="left_palm"/>
      <child link="llittlebase"/>
      <origin rpy="0 0 0" xyz="-0.0625 0 0.016"/>
   </joint>

   <joint name="llij2" type="fixed">
      <parent link="llittlebase"/>
      <child link="llil0"/>
      <origin rpy="-0.0873 0 3.1241" xyz="0.00025 0.02475 -0.0025"/>
   </joint>

   <joint name="llij3" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="llil0"/>
      <child link="llil1"/>
      <origin rpy="1.5708 0 0" xyz="0.0148 0 0"/>
   </joint>

   <joint name="llij4" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="llil1"/>
      <child link="llil2"/>
      <origin rpy="0 0 0" xyz="0.0218 0 0"/>
   </joint>

   <joint name="llij5" type="revolute">
      <axis xyz="0 0 1"/>
      <limit effort="1000.0" lower="0" upper="1.5708" velocity="0.5"/>
      <parent link="llil2"/>
      <child link="llil3"/>
      <origin rpy="0 0 0" xyz="0.019 0 0"/>
   </joint>


</robot>