<?xml version="1.0" encoding="utf-8"?>
<robot name="dual_arm">
   <mujoco>
    <compiler
    meshdir="meshes"
    balanceinertia="true"
    discardvisual="false" />
   </mujoco>


    <link name="base_link">
      <visual>
        <origin xyz="0 0 0.6" rpy="0 0 0"/>
        <geometry>
          <cylinder radius="0.05" length="1.2"/>
        </geometry>
        <material name="gray">
          <color rgba="0.5 0.5 0.5 1.0"/>
        </material>
      </visual>

      <collision>
        <origin xyz="0 0 0.6" rpy="0 0 0"/>
        <geometry>
          <cylinder radius="0.05" length="1.2"/>
        </geometry>
      </collision>

        <inertial>

          <origin xyz="0 0 0" rpy="0 0 0"/>
          <mass value="25.4469"/>

          <inertia
            ixx="3.06953"
            ixy="0.0"
            ixz="0.0"
            iyy="3.06953"
            iyz="0.0"
            izz="0.03181"/>
        </inertial>
    </link>

    <joint name="base_fixed" type="fixed">
      <origin rpy="0 0 0" xyz="0 0 1.2"/>
      <parent link="base_link"/>
      <child link="PELVIS_S"/>
    </joint>

  <link name="PELVIS_S">
    <inertial>
      <origin xyz="3.78529087037144E-05 3.81781425684836E-07 0.0386396273530852" rpy="0 0 0" />
      <mass value="2.10624590271277" />
      <inertia
        ixx="0.00165706865324979"
        ixy="3.13663044821662E-09"
        ixz="6.84209533216046E-07"
        iyy="0.00136736758630241"
        iyz="-1.01014607878816E-10"
        izz="0.00168295663089359" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/PELVIS_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/PELVIS_S.STL" />
      </geometry>
    </collision>
  </link>

  <link name="L_SHOULDER_P_S">
    <inertial>
      <origin xyz="-0.00982258725282134 0.0704593083751867 1.15261874861217E-06" rpy="0 0 0" />
      <mass value="0.880737519698403" />
      <inertia
        ixx="0.000583190308378148"
        ixy="-1.53153074560473E-05"
        ixz="6.58466471754072E-09"
        iyy="0.000445532440067177"
        iyz="6.37001404038516E-09"
        izz="0.000465648071069952" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_SHOULDER_P_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_SHOULDER_P" type="revolute">
    <origin xyz="0 0.0945 0.042" rpy="0 0 0" />
    <parent link="PELVIS_S" />
    <child link="L_SHOULDER_P_S" />
    <axis xyz="0 1 0" />
    <limit lower="-1.57" upper="1.57" effort="120" velocity="3.351" />
  </joint>

  <link name="L_SHOULDER_R_S">
    <inertial>
      <origin xyz="-0.0346025282975857 0.091739327988169 -1.67085072999562E-08" rpy="0 0 0" />
      <mass value="0.594788424442483" />
      <inertia
        ixx="0.000380970396712656"
        ixy="4.80751844573946E-05"
        ixz="-1.34913746586865E-11"
        iyy="0.000320962178597474"
        iyz="-1.00039763442409E-09"
        izz="0.000414771047901155" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_SHOULDER_R_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_SHOULDER_R" type="revolute">
    <origin xyz="0.035 0.0765 0" rpy="0 0 0" />
    <parent link="L_SHOULDER_P_S" />
    <child link="L_SHOULDER_R_S" />
    <axis xyz="1 0 0" />
    <limit lower="-2" upper="2" effort="120" velocity="3.351" />
  </joint>

  <link name="L_SHOULDER_Y_S">
    <inertial>
      <origin xyz="-0.00440976862014801 0.0863620459174068 9.50748668682166E-09"
        rpy="0 0 0" />
      <mass value="0.563406026626801" />
      <inertia
        ixx="0.000327003834287552"
        ixy="-1.8057438966771E-05"
        ixz="7.28778136267901E-10"
        iyy="0.000213830709361531"
        iyz="1.49273668517817E-10"
        izz="0.000297341029639189" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_SHOULDER_Y_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_SHOULDER_Y" type="revolute">
    <origin xyz="-0.035 0.1475 0" rpy="0 0 0" />
    <parent link="L_SHOULDER_R_S" />
    <child link="L_SHOULDER_Y_S" />
    <axis xyz="0 1 0" />
    <limit lower="-2.18" upper="0" effort="80" velocity="3.8758" />
  </joint>

  <link name="L_ELBOW_R_S">
    <inertial>
      <origin xyz="-0.0335624237303443 0.0603199964106564 2.99655911639718E-07" rpy="0 0 0" />
      <mass value="0.393571904406493" />
      <inertia
        ixx="0.00017277119386253"
        ixy="2.34549801867355E-05"
        ixz="-1.90560556659271E-09"
        iyy="0.000155340245267897"
        iyz="8.82493073600007E-09"
        izz="0.00018104232734159" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_ELBOW_R_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_ELBOW_R_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_ELBOW_R" type="revolute">
    <origin xyz="0.034 0.1025 0" rpy="0 0 0" />
    <parent link="L_SHOULDER_Y_S" />
    <child link="L_ELBOW_R_S" />
    <axis xyz="1 0 0" />
    <limit lower="-2.05" upper="0" effort="50" velocity="4.71" />
  </joint>

  <link name="L_WRIST_P_S">
    <inertial>
      <origin xyz="-1.39659173115092E-10 0.0675972604744393 0.019200551565574" rpy="0 0 0" />
      <mass value="0.442332465815496" />
      <inertia
        ixx="0.000476754055455895"
        ixy="-4.61505824713347E-15"
        ixz="6.03808112272229E-18"
        iyy="0.000103466585850499"
        iyz="-4.88426705501198E-05"
        izz="0.000482956345754213" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_WRIST_P_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_WRIST_P_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_WRIST_P" type="revolute">
    <origin xyz="-0.034 0.0965 0" rpy="0 0 0" />
    <parent link="L_ELBOW_R_S" />
    <child link="L_WRIST_P_S" />
    <axis xyz="0 1 0" />
    <limit lower="0" upper="3.14" effort="50" velocity="4.71" />
  </joint>

  <link name="L_WRIST_Y_S">
    <inertial>
      <origin xyz="-0.00464135887331864 -5.06426789392833E-10 -0.0341253783666609" rpy="0 0 0" />
      <mass value="0.23573847772002" />
      <inertia
        ixx="5.10686940455785E-05"
        ixy="7.45706654358429E-16"
        ixz="6.2619568923368E-06"
        iyy="6.00636019624519E-05"
        iyz="1.27989654155383E-16"
        izz="5.32182903609189E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_WRIST_Y_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_WRIST_Y_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_WRIST_Y" type="revolute">
    <origin xyz="0 0.1525 0.039" rpy="0 0 0" />
    <parent link="L_WRIST_P_S" />
    <child link="L_WRIST_Y_S" />
    <axis xyz="0 0 1" />
    <limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
  </joint>

  <link name="L_WRIST_R_S">
    <inertial>
      <origin xyz="-0.0161477357620243 0.0955046558857351 -0.00499392489444117" rpy="0 0 0" />
      <mass value="0.504894112043562" />
      <inertia
        ixx="0.000186833711781125"
        ixy="-3.99488705622731E-06"
        ixz="-1.51920720398336E-06"
        iyy="0.000179960980467837"
        iyz="3.6992669535716E-06"
        izz="0.000280756101568308" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_WRIST_R_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/L_WRIST_R_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="L_WRIST_R" type="revolute">
    <origin xyz="0.0258 0 -0.039" rpy="0 0 0" />
    <parent link="L_WRIST_Y_S" />
    <child link="L_WRIST_R_S" />
    <axis xyz="1 0 0" />
    <limit lower="-1.57" upper="0.26" effort="50" velocity="4.71" />
  </joint>

  <link name="R_SHOULDER_P_S">
    <inertial>
      <origin xyz="-0.00982258725282141 -0.0704593093873431 -1.15069920925137E-06" rpy="0 0 0" />
      <mass value="0.880737519698404" />
      <inertia
        ixx="0.000583190308378149"
        ixy="1.53153074560471E-05"
        ixz="-6.58466471736542E-09"
        iyy="0.000445532440067178"
        iyz="6.37001403998779E-09"
        izz="0.000465648071069953" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_SHOULDER_P_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_SHOULDER_P" type="revolute">
    <origin xyz="0 -0.0945 0.042" rpy="0 0 0" />
    <parent link="PELVIS_S" />
    <child link="R_SHOULDER_P_S" />
    <axis xyz="0 -1 0" />
    <limit lower="-3.14" upper="3.14" effort="120" velocity="3.351" />
  </joint>

  <link name="R_SHOULDER_R_S">
    <inertial>
      <origin xyz="-0.0346025282975784 -0.09173932900033 1.86280643132974E-08" rpy="0 0 0" />
      <mass value="0.59478842444248" />
      <inertia
        ixx="0.000380970396712653"
        ixy="-4.80751844573946E-05"
        ixz="1.34913746041655E-11"
        iyy="0.000320962178597472"
        iyz="-1.00039763417375E-09"
        izz="0.000414771047901152" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_SHOULDER_R_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_SHOULDER_R" type="revolute">
    <origin xyz="0.035 -0.0765 0" rpy="0 0 0" />
    <parent link="R_SHOULDER_P_S" />
    <child link="R_SHOULDER_R_S" />
    <axis xyz="1 0 0" />
    <limit lower="-0.78" upper="1.57" effort="120" velocity="3.351" />
  </joint>

  <link name="R_SHOULDER_Y_S">
    <inertial>
      <origin xyz="-0.00440976862014946 -0.0863620469295699 -7.58791862676134E-09" rpy="0 0 0" />
      <mass value="0.563406026626801" />
      <inertia
        ixx="0.000327003834287551"
        ixy="1.80574389667711E-05"
        ixz="-7.28778136077729E-10"
        iyy="0.000213830709361532"
        iyz="1.49273668428957E-10"
        izz="0.000297341029639189" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
      </geometry>
      <material
        name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_SHOULDER_Y_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_SHOULDER_Y" type="revolute">
    <origin xyz="-0.035 -0.1475 0" rpy="0 0 0" />
    <parent link="R_SHOULDER_R_S" />
    <child link="R_SHOULDER_Y_S" />
    <axis xyz="0 -1 0" />
    <limit lower="-3.14" upper="3.14" effort="80" velocity="3.8758" />
  </joint>

  <link name="R_ELBOW_R_S">
    <inertial>
      <origin xyz="-0.0335624237303424 -0.0603199974228191 -2.97736340082455E-07" rpy="0 0 0" />
      <mass value="0.393571904406492" />
      <inertia
        ixx="0.000172771193862529"
        ixy="-2.34549801867353E-05"
        ixz="1.90560556668771E-09"
        iyy="0.000155340245267897"
        iyz="8.82493073602971E-09"
        izz="0.00018104232734159" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_ELBOW_R_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_ELBOW_R_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_ELBOW_R" type="revolute">
    <origin xyz="0.034 -0.1025 0" rpy="0 0 0" />
    <parent link="R_SHOULDER_Y_S" />
    <child link="R_ELBOW_R_S" />
    <axis xyz="1 0 0" />
    <limit lower="0" upper="2.05" effort="80" velocity="3.8758" />
  </joint>

  <link name="R_WRIST_P_S">
    <inertial>
      <origin xyz="-1.39656577968772E-10 -0.0675972614865965 0.0192005515655728" rpy="0 0 0" />
      <mass value="0.442332465815497" />
      <inertia
        ixx="0.000476754055455896"
        ixy="-4.61462558956188E-15"
        ixz="-5.91762926004267E-18"
        iyy="0.0001034665858505"
        iyz="4.88426705501212E-05"
        izz="0.000482956345754214" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_WRIST_P_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_WRIST_P_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_WRIST_P" type="revolute">
    <origin xyz="-0.034 -0.0965 0" rpy="0 0 0" />
    <parent link="R_ELBOW_R_S" />
    <child link="R_WRIST_P_S" />
    <axis xyz="0 -1 0" />
    <limit lower="-3.14" upper="3.14" effort="50" velocity="4.71" />
  </joint>

  <link name="R_WRIST_Y_S">
    <inertial>
      <origin xyz="-0.00464135887330083 -5.06426456325926E-10 -0.0341253783666614" rpy="0 0 0" />
      <mass value="0.235738477720019" />
      <inertia
        ixx="5.1068694045578E-05"
        ixy="7.45771487459288E-16"
        ixz="6.26195689233664E-06"
        iyy="6.00636019624515E-05"
        iyz="1.27828046342987E-16"
        izz="5.32182903609188E-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_WRIST_Y_S.STL" />
      </geometry>
      <material name="">
        <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_WRIST_Y_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_WRIST_Y" type="revolute">
    <origin xyz="0 -0.1525 0.039" rpy="0 0 0" />
    <parent link="R_WRIST_P_S" />
    <child link="R_WRIST_Y_S" />
    <axis xyz="0 0 1" />
    <limit lower="-0.78" upper="0.78" effort="50" velocity="0.79" />
  </joint>

  <link name="R_WRIST_R_S">
    <inertial>
      <origin xyz="-0.0201642233698132 -0.11074968386657 -0.00598955339232021" rpy="0 0 0" />
      <mass value="0.504366058218534" />
      <inertia
        ixx="0.000185559065855467"
        ixy="5.75889766751509E-06"
        ixz="2.40683898454438E-06"
        iyy="0.000131246007872084"
        iyz="1.60533277040148E-06"
        izz="0.000271800951396149" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_WRIST_R_S.STL" />
      </geometry>
      <material
        name="">
        <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="meshes/R_WRIST_R_S.STL" />
      </geometry>
    </collision>
  </link>

  <joint name="R_WRIST_R" type="revolute">
    <origin xyz="0.03 0 -0.039" rpy="0 0 0" />
    <parent link="R_WRIST_Y_S" />
    <child link="R_WRIST_R_S" />
    <axis xyz="1 0 0" />
    <limit lower="-0.26" upper="1.57" effort="50" velocity="4.71" />
  </joint>

  <link name="R_FINGER_TIP">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.004"/>
      </geometry>
      <material name="">
        <color rgba="0 1 1 1"/> <!-- 绿色 -->
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_FINGER_TIP_FIXED" type="fixed">
    <origin xyz="0.00684256  -0.284077 0.00801525" rpy="0 0 0"/>
    <parent link="R_WRIST_R_S"/>
    <child link="R_FINGER_TIP"/>
    <axis xyz="0 0 1"/>
  </joint>

  <link name="R_CAM">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.004"/>
      </geometry>
      <material name="">
        <color rgba="0 1 0 1"/> <!-- 绿色 -->
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="0.005"/>
      </geometry>
    </collision>
  </link>

  <joint name="R_CAM_FIXED" type="fixed">
    <origin xyz="-0.01212 -0.17655 0.07506" rpy="-1.5707963267 0 3.1415926535"/>
    <parent link="R_WRIST_R_S"/>
    <child link="R_CAM"/>
    <axis xyz="0 0 1"/>
  </joint>

</robot>
