add urdf

README.md

@@ -26,6 +26,7 @@ tags:
   - [训练集说明](#训练集说明)
   - [验证集说明](#验证集说明)
   - [数据集字段说明](#数据集字段说明)
+    - [URDF](#URDF)
     - [图像](#图像)
     - [语言指令](#语言指令)
     - [本体感知与动作](#本体感知与动作)
@@ -122,6 +123,9 @@ python dataloader/custom_lerobot_dataset.py
     | 标注 | Start remote operation. | Open the washing machine door. | Close the washing machine door. | End remote operation. |
 
 ### 数据集字段说明
+#### URDF
+我们开放机器人硬件描述以支持非商业用途的教学、实验、研究等项目。可从以下地址获取URDF：`challenge_data/robot_description/x2w.urdf`。
+
 #### 图像
 包含三视角RGB图像，分辨率为1280*720，帧率30FPS，字段定义如下
 | 数据集字段 | 数据源 |
@@ -401,6 +405,7 @@ umi_sample_data_v21/
   - [Training Set Description](#training-set-description)
   - [Validation Set Description](#validation-set-description)
   - [Dataset Field Description](#dataset-field-description)
+    - [URDF](#URDF)
     - [Camera Images](#camera-images)
     - [Language Instructions](#language-instructions)
     - [Proprioceptive and Actions](#proprioceptive-and-actions)
@@ -507,6 +512,8 @@ Considering the computing resources of participating teams, the evaluation of th
 
 
 ### Dataset Field Description
+#### URDF
+We are releasing the robot hardware description to support non-commercial projects such as teaching, experimentation, and research. The URDF can be obtained from the following address: `challenge_data/robot_description`.
 
 #### Camera Images
 The dataset includes three-view RGB images with a resolution of 1280×720 at 30 FPS. Field definitions:

robot_description/x2w.urdf

@@ -0,0 +1,961 @@
+<?xml version='1.0' encoding='utf-8'?>
+
+<robot name="AgiBot-X2W">
+    <mujoco>
+        <compiler meshdir="meshes" discardvisual="false"/>
+    </mujoco>
+
+
+    <!-- Base Link -->
+
+    <!-- [CAUTION] uncomment when convert to mujoco -->
+    <!-- <link name="world"></link>
+    <joint name="floating_base_joint" type="floating">
+        <parent link="world"/>
+        <child link="base_link"/>
+    </joint> -->
+
+
+    <link name="base_link">
+        <inertial>
+            <origin xyz="-0.12851 0.00238 0.12840" rpy="0 0 0" />
+            <mass value="33.26195" />
+            <inertia ixx="0.74641" iyy="0.87769" izz="1.40567" ixy="-0.00597" iyz="0.00353" ixz="-0.01190" />
+        </inertial>
+
+        <collision name="base_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/base_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="base_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/base_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="base_b_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/base_b.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="black">
+                <color rgba="0.2 0.2 0.2 1"/>
+            </material>
+        </visual>
+
+        <visual name="base_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/base_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+
+        <visual name="base_r_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/base_r.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="red">
+                <color rgba="1 0 0 1"/>
+            </material>
+        </visual>
+    </link>
+
+
+    <!-- Waist -->
+    <link name="folding_lower_link">
+        <inertial>
+            <origin xyz="-0.26262 -0.00220 0.04026" rpy="0 0 0" />
+            <mass value="5.51490" />
+            <inertia ixx="0.01490" iyy="0.11495" izz="0.11142" ixy="-0.00466" iyz="0.00082" ixz="0.01817" />
+        </inertial>
+
+        <visual name="folding_lower_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/folding_lower_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="folding_lower_b_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/folding_lower_b.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="black">
+                <color rgba="0.2 0.2 0.2 1"/>
+            </material>
+        </visual>
+
+        <visual name="folding_lower_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/folding_lower_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="folding_lower_joint" type="revolute">
+        <origin xyz="0 0 0.22564" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="1.5708" effort="140" velocity="3"/>
+        <parent link="base_link"/>
+        <child link="folding_lower_link"/>
+    </joint>
+
+
+    <link name="folding_upper_link">
+        <inertial>
+            <origin xyz="0.33051 -0.00164 0.08849" rpy="0 0 0" />
+            <mass value="6.19479" />
+            <inertia ixx="0.04907" iyy="0.09999" izz="0.12109" ixy="0.00069" iyz="0.00025" ixz="-0.02394" />
+        </inertial>
+
+        <visual name="folding_upper_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/folding_upper_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="folding_upper_o_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/folding_upper_o.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="orange">
+                <color rgba="0.9 0.6 0 1"/>
+            </material>
+        </visual>
+
+        <visual name="folding_upper_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/folding_upper_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="folding_upper_joint" type="revolute">
+        <origin xyz="-0.35983 0 0.06000" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-3.1416" upper="0" effort="140" velocity="3"/>
+        <parent link="folding_lower_link"/>
+        <child link="folding_upper_link"/>
+    </joint>
+
+
+    <link name="waist_pitch_link">
+        <inertial>
+            <origin xyz="0.00176 -0.00233 0.06486" rpy="0 0 0" />
+            <mass value="4.24946" />
+            <inertia ixx="0.02085" iyy="0.01676" izz="0.01334" ixy="-0.00002" iyz="-0.00065" ixz="0.00020" />
+        </inertial>
+
+        <collision name="waist_pitch_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/waist_pitch_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="waist_pitch_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/waist_pitch_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="waist_pitch_b_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/waist_pitch_b.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="black">
+                <color rgba="0.2 0.2 0.2 1"/>
+            </material>
+        </visual>
+
+        <visual name="waist_pitch_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/waist_pitch_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="waist_pitch_joint" type="revolute">
+        <origin xyz="0.39656 0 0.11545" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-1.2217" upper="2.7053" effort="60" velocity="3"/>
+        <parent link="folding_upper_link"/>
+        <child link="waist_pitch_link"/>
+    </joint>
+
+
+    <link name="torso_yaw_link">
+        <inertial>
+            <origin xyz="-0.00146 -0.00004 0.11800" rpy="0 0 0" />
+            <mass value="6.66651" />
+            <inertia ixx="0.05759" iyy="0.04762" izz="0.02808" ixy="0" iyz="-0.00002" ixz="0.00268" />
+        </inertial>
+
+        <collision name="torso_yaw_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/torso_yaw_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="torso_yaw_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/torso_yaw_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="torso_yaw_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/torso_yaw_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="torso_yaw_joint" type="revolute">
+        <origin xyz="0 0 0.15827" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.8326" upper="3.7509" effort="60" velocity="3"/>
+        <parent link="waist_pitch_link"/>
+        <child link="torso_yaw_link"/>
+    </joint>
+
+
+    <!-- Head -->
+    <link name="head_yaw_link">
+        <inertial>
+            <origin xyz="-0.00064 -0.00072 0.00958" rpy="0 0 0" />
+            <mass value="1.14721" />
+            <inertia ixx="0.00052" iyy="0.00051" izz="0.00044" ixy="0.00001" iyz="0.00007" ixz="-0.00002" />
+        </inertial>
+
+        <visual name="head_yaw_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/head_yaw_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="head_yaw_joint" type="revolute">
+        <origin xyz="0.00959 0 0.23746" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.6109" upper="0.6109" effort="3" velocity="10"/>
+        <parent link="torso_yaw_link"/>
+        <child link="head_yaw_link"/>
+    </joint>
+
+
+    <link name="head_pitch_link">
+        <inertial>
+            <origin xyz="0.00548 0 0.01032" rpy="0 0 0" />
+            <mass value="0.70903" />
+            <inertia ixx="0.00325" iyy="0.00311" izz="0.00314" ixy="0" iyz="0" ixz="-0.00008" />
+        </inertial>
+
+        <collision name="head_pitch_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/head_pitch_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="head_pitch_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/head_pitch_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="head_pitch_b_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/head_pitch_b.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="black">
+                <color rgba="0.2 0.2 0.2 1"/>
+            </material>
+        </visual>
+
+        <visual name="head_pitch_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/head_pitch_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="head_pitch_joint" type="revolute">
+        <origin xyz="0.01055 0 0.09910" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.1745" upper="0.5236" effort="3" velocity="10"/>
+        <parent link="head_yaw_link"/>
+        <child link="head_pitch_link"/>
+    </joint>
+
+
+    <!-- Left Arm -->
+    <link name="left_shoulder_pitch_link">
+        <inertial>
+            <origin xyz="0.00007 0.07046 0.00004" rpy="0 0 0" />
+            <mass value="0.96109" />
+            <inertia ixx="0.00118" iyy="0.00064" izz="0.00104" ixy="0.00001" iyz="0" ixz="0" />
+        </inertial>
+
+        <visual name="left_shoulder_pitch_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_shoulder_pitch_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_shoulder_pitch_joint" type="revolute">
+        <origin xyz="-0.00849 0.08926 0.17921" rpy="0.09599 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-2.9673" upper="2.9673" effort="140" velocity="13"/>
+        <parent link="torso_yaw_link"/>
+        <child link="left_shoulder_pitch_link"/>
+    </joint>
+
+
+    <link name="left_shoulder_roll_link">
+        <inertial>
+            <origin xyz="0.00215 0.00060 -0.03821" rpy="0 0 0" />
+            <mass value="0.30742" />
+            <inertia ixx="0.00056" iyy="0.00066" izz="0.00039" ixy="0" iyz="0" ixz="-0.00003" />
+        </inertial>
+
+        <collision name="left_shoulder_roll_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_shoulder_roll_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="left_shoulder_roll_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_shoulder_roll_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="left_shoulder_roll_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_shoulder_roll_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_shoulder_roll_joint" type="revolute">
+        <origin xyz="0 0.07800 0" rpy="-0.09599 0 0" />
+        <axis xyz="1 0 0" />
+        <limit lower="-0.2618" upper="3.4000" effort="36" velocity="15"/>
+        <parent link="left_shoulder_pitch_link"/>
+        <child link="left_shoulder_roll_link"/>
+    </joint>
+
+
+    <link name="left_shoulder_yaw_link">
+        <inertial>
+            <origin xyz="0.00948 -0.00026 -0.07346" rpy="0 0 0" />
+            <mass value="1.21188" />
+            <inertia ixx="0.00283" iyy="0.00293" izz="0.00086" ixy="0.00001" iyz="-0.00003" ixz="0.00050" />
+        </inertial>
+
+        <collision name="left_shoulder_yaw_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_shoulder_yaw_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="left_shoulder_yaw_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_shoulder_yaw_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_shoulder_yaw_joint" type="revolute">
+        <origin xyz="-0.00002 0 -0.08050" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.7925" upper="2.7925" effort="24" velocity="20"/>
+        <parent link="left_shoulder_roll_link"/>
+        <child link="left_shoulder_yaw_link"/>
+    </joint>
+
+
+    <link name="left_elbow_pitch_link">
+        <inertial>
+            <origin xyz="0.02548 0.00256 -0.01793" rpy="0 0 0" />
+            <mass value="0.23314" />
+            <inertia ixx="0.00030" iyy="0.00025" izz="0.00035" ixy="0.00002" iyz="-0.00002" ixz="0.00003" />
+        </inertial>
+
+        <visual name="left_elbow_pitch_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_elbow_pitch_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="left_elbow_pitch_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_elbow_pitch_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_elbow_pitch_joint" type="revolute">
+        <origin xyz="0.01999 0 -0.11770" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.9599" upper="1.5708" effort="24" velocity="20"/>
+        <parent link="left_shoulder_yaw_link"/>
+        <child link="left_elbow_pitch_link"/>
+    </joint>
+
+
+    <link name="left_wrist_roll_link">
+        <inertial>
+            <origin xyz="-0.07562 0.00002 0.00449" rpy="0 0 0" />
+            <mass value="0.89591" />
+            <inertia ixx="0.00042" iyy="0.00103" izz="0.00099" ixy="0" iyz="0" ixz="-0.00014" />
+        </inertial>
+
+        <collision name="left_wrist_roll_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_wrist_roll_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="left_wrist_roll_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_wrist_roll_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_wrist_roll_joint" type="revolute">
+        <origin xyz="0.18449 -0.00001 -0.02004" rpy="0 0 0" />
+        <axis xyz="1 0 0" />
+        <limit lower="-2.8798" upper="2.8798" effort="15" velocity="10"/>
+        <parent link="left_elbow_pitch_link"/>
+        <child link="left_wrist_roll_link"/>
+    </joint>
+
+
+    <link name="left_wrist_yaw_link">
+        <inertial>
+            <origin xyz="-0.00002 0.00224 0.00001" rpy="0 0 0" />
+            <mass value="0.28827" />
+            <inertia ixx="0.00006" iyy="0.00007" izz="0.00006" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <visual name="left_wrist_yaw_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_wrist_yaw_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_wrist_yaw_joint" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="-1.8326" upper="0.2618" effort="3" velocity="10"/>
+        <parent link="left_wrist_roll_link"/>
+        <child link="left_wrist_yaw_link"/>
+    </joint>
+
+
+    <link name="left_wrist_pitch_link">
+        <inertial>
+            <origin xyz="-0.00266 0.02150 0" rpy="0 0 0" />
+            <mass value="0.13270" />
+            <inertia ixx="0.00006" iyy="0.00007" izz="0.00006" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <collision name="left_wrist_pitch_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_wrist_pitch_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="left_wrist_pitch_b_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_wrist_pitch_b.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="black">
+                <color rgba="0.2 0.2 0.2 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_wrist_pitch_joint" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.2618" upper="1.5708" effort="3" velocity="10"/>
+        <parent link="left_wrist_yaw_link"/>
+        <child link="left_wrist_pitch_link"/>
+    </joint>
+
+
+    <link name="left_finger_l_link">
+        <inertial>
+            <origin xyz="0.05040 0.00923 0.00008" rpy="0 0 0" />
+            <mass value="0.05897" />
+            <inertia ixx="0.00001" iyy="0.00005" izz="0.00005" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <collision name="left_finger_l_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_finger_l_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="left_finger_l_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_finger_l_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_finger_l_joint" type="prismatic">
+        <origin xyz="0.05438 0.00002 -0.00004" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="0.02000" effort="30" velocity="0.2" />
+        <parent link="left_wrist_pitch_link" />
+        <child link="left_finger_l_link" />
+    </joint>
+
+
+    <link name="left_finger_r_link">
+        <inertial>
+            <origin xyz="0.05053 -0.00892 0.00004" rpy="0 0 0" />
+            <mass value="0.05897" />
+            <inertia ixx="0.00001" iyy="0.00005" izz="0.00005" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <collision name="left_finger_r_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_finger_r_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="left_finger_r_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/left_finger_r_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="left_finger_r_joint" type="prismatic">
+        <origin xyz="0.05438 0.00002 -0.00004" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.02000" upper="0" effort="30" velocity="0.2" />
+        <parent link="left_wrist_pitch_link" />
+        <child link="left_finger_r_link" />
+    </joint>
+
+
+    <!-- Right Arm -->
+    <link name="right_shoulder_pitch_link">
+        <inertial>
+            <origin xyz="0.00007 -0.07043 0.00004" rpy="0 0 0" />
+            <mass value="0.96164" />
+            <inertia ixx="0.00118" iyy="0.00064" izz="0.00104" ixy="-0.00001" iyz="0" ixz="0" />
+        </inertial>
+
+        <visual name="right_shoulder_pitch_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_shoulder_pitch_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_shoulder_pitch_joint" type="revolute">
+        <origin xyz="-0.00849 -0.08926 0.17921" rpy="-0.09599 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-2.9673" upper="2.9673" effort="140" velocity="13"/>
+        <parent link="torso_yaw_link"/>
+        <child link="right_shoulder_pitch_link"/>
+    </joint>
+
+
+    <link name="right_shoulder_roll_link">
+        <inertial>
+            <origin xyz="0.00215 -0.00060 -0.03821" rpy="0 0 0" />
+            <mass value="0.30742" />
+            <inertia ixx="0.00056" iyy="0.00066" izz="0.00039" ixy="0" iyz="0" ixz="-0.00003" />
+        </inertial>
+
+        <collision name="right_shoulder_roll_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_shoulder_roll_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="right_shoulder_roll_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_shoulder_roll_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="right_shoulder_roll_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_shoulder_roll_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_shoulder_roll_joint" type="revolute">
+        <origin xyz="0 -0.07800 0" rpy="0.09599 0 0" />
+        <axis xyz="1 0 0" />
+        <limit lower="-3.4000" upper="0.2618" effort="36" velocity="15"/>
+        <parent link="right_shoulder_pitch_link"/>
+        <child link="right_shoulder_roll_link"/>
+    </joint>
+
+
+    <link name="right_shoulder_yaw_link">
+        <inertial>
+            <origin xyz="0.00948 0.00026 -0.07346" rpy="0 0 0" />
+            <mass value="1.21189" />
+            <inertia ixx="0.00283" iyy="0.00293" izz="0.00086" ixy="-0.00001" iyz="0.00003" ixz="0.00050" />
+        </inertial>
+
+        <collision name="right_shoulder_yaw_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_shoulder_yaw_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="right_shoulder_yaw_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_shoulder_yaw_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_shoulder_yaw_joint" type="revolute">
+        <origin xyz="-0.00002 0 -0.08050" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="-2.7925" upper="2.7925" effort="24" velocity="20"/>
+        <parent link="right_shoulder_roll_link"/>
+        <child link="right_shoulder_yaw_link"/>
+    </joint>
+
+
+    <link name="right_elbow_pitch_link">
+        <inertial>
+            <origin xyz="0.02548 -0.00256 -0.01793" rpy="0 0 0" />
+            <mass value="0.23314" />
+            <inertia ixx="0.00030" iyy="0.00025" izz="0.00035" ixy="-0.00002" iyz="0.00002" ixz="0.00003" />
+        </inertial>
+
+        <visual name="right_elbow_pitch_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_elbow_pitch_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+
+        <visual name="right_elbow_pitch_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_elbow_pitch_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_elbow_pitch_joint" type="revolute">
+        <origin xyz="0.01999 0 -0.11770" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.9599" upper="1.5708" effort="24" velocity="20"/>
+        <parent link="right_shoulder_yaw_link"/>
+        <child link="right_elbow_pitch_link"/>
+    </joint>
+
+
+    <link name="right_wrist_roll_link">
+        <inertial>
+            <origin xyz="-0.07562 -0.00002 0.00449" rpy="0 0 0" />
+            <mass value="0.89591" />
+            <inertia ixx="0.00042" iyy="0.00103" izz="0.00099" ixy="0" iyz="0" ixz="-0.00014" />
+        </inertial>
+
+        <collision name="right_wrist_roll_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_wrist_roll_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="right_wrist_roll_w_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_wrist_roll_w.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="white">
+                <color rgba="0.8 0.8 0.8 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_wrist_roll_joint" type="revolute">
+        <origin xyz="0.18449 0.00001 -0.02004" rpy="0 0 0" />
+        <axis xyz="1 0 0" />
+        <limit lower="-2.8798" upper="2.8798" effort="15" velocity="10"/>
+        <parent link="right_elbow_pitch_link"/>
+        <child link="right_wrist_roll_link"/>
+    </joint>
+
+
+    <link name="right_wrist_yaw_link">
+        <inertial>
+            <origin xyz="-0.00002 -0.00224 0.00001" rpy="0 0 0" />
+            <mass value="0.28827" />
+            <inertia ixx="0.00006" iyy="0.00007" izz="0.00006" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <visual name="right_wrist_yaw_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_wrist_yaw_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_wrist_yaw_joint" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <axis xyz="0 0 1" />
+        <limit lower="-0.2618" upper="1.8326" effort="3" velocity="10"/>
+        <parent link="right_wrist_roll_link"/>
+        <child link="right_wrist_yaw_link"/>
+    </joint>
+
+
+    <link name="right_wrist_pitch_link">
+        <inertial>
+            <origin xyz="-0.00266 -0.02150 0" rpy="0 0 0" />
+            <mass value="0.13270" />
+            <inertia ixx="0.00006" iyy="0.00007" izz="0.00006" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <collision name="right_wrist_pitch_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_wrist_pitch_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="right_wrist_pitch_b_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_wrist_pitch_b.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="black">
+                <color rgba="0.2 0.2 0.2 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_wrist_pitch_joint" type="revolute">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.2618" upper="1.5708" effort="3" velocity="10"/>
+        <parent link="right_wrist_yaw_link"/>
+        <child link="right_wrist_pitch_link"/>
+    </joint>
+
+
+    <link name="right_finger_l_link">
+        <inertial>
+            <origin xyz="0.05053 0.00892 0.00004" rpy="0 0 0" />
+            <mass value="0.05897" />
+            <inertia ixx="0.00001" iyy="0.00005" izz="0.00005" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <collision name="right_finger_l_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_finger_l_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="right_finger_l_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_finger_l_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_finger_l_link" type="prismatic">
+        <origin xyz="0.05446 0 0.00002" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="0" upper="0.02000" effort="30" velocity="0.2" />
+        <parent link="right_wrist_pitch_link" />
+        <child link="right_finger_l_link" />
+    </joint>
+
+
+    <link name="right_finger_r_link">
+        <inertial>
+            <origin xyz="0.05040 -0.00923 0.00008" rpy="0 0 0" />
+            <mass value="0.05897" />
+            <inertia ixx="0.00001" iyy="0.00005" izz="0.00005" ixy="0" iyz="0" ixz="0" />
+        </inertial>
+
+        <collision name="right_finger_r_collision">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_finger_r_collider.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+        </collision>
+
+        <visual name="right_finger_r_g_visual">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="meshes/right_finger_r_g.stl" scale="0.001 0.001 0.001" />
+            </geometry>
+            <material name="gray">
+                <color rgba="0.4 0.4 0.4 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="right_finger_r_joint" type="prismatic">
+        <origin xyz="0.05446 0 0.00002" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+        <limit lower="-0.02000" upper="0" effort="30" velocity="0.2" />
+        <parent link="right_wrist_pitch_link" />
+        <child link="right_finger_r_link" />
+    </joint>
+
+</robot>