<?xml version="1.0"?>
<robot name="elf3">
  <link name="base_link"/>
  <!-- l-arm -->
  <link name="l_shoulder_y_link">
    <inertial>
      <origin xyz="-0.0194828193215486 -0.00304252317955314 0.000461368251821276" rpy="0 0 0" />
      <mass value="0.938482977144261" />
      <inertia ixx="0.00101079" ixy="5.607e-05" ixz="-9.09e-06" iyy="0.00073439" iyz="1.143e-05"
        izz="0.00081618" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_shoulder_y_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0.005 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_shoulder_y_link.STL" scale="1 0.9 1" />
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_y_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="base_link" />
    <child link="l_shoulder_y_link" />
    <axis xyz="0 1 0" />
    <limit lower="-2.8798" upper="2.8798" effort="50.0" velocity="20.0" />
  </joint>
  <link name="l_shoulder_x_link">
    <inertial>
      <origin xyz="0.00939873056051564 1.86326326589992E-09 -0.0272170618020917" rpy="0 0 0" />
      <mass value="0.130650985436178" />
      <inertia ixx="0.00013666" ixy="0" ixz="-1.604e-05" iyy="0.00011597" iyz="0" izz="6.211e-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_shoulder_x_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/l_shoulder_x_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_x_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="l_shoulder_y_link" />
    <child link="l_shoulder_x_link" />
    <axis xyz="1 0 0" />
    <limit lower="-0.34907" upper="3.0543" effort="50.0" velocity="20.0" />
  </joint>
  <link name="l_shoulder_z_link">
    <inertial>
      <origin xyz="-0.000948901149635582 -0.00269014485810093 -0.207899310643923" rpy="0 0 0" />
      <mass value="1.29694131347632" />
      <inertia ixx="0.00776426" ixy="2.341e-05" ixz="1.233e-05" iyy="0.00803385" iyz="-0.00031592"
        izz="0.00099981" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_shoulder_z_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_shoulder_z_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_z_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="l_shoulder_x_link" />
    <child link="l_shoulder_z_link" />
    <axis xyz="0 0 1" />
    <limit lower="-2.8798" upper="2.8798" effort="25.0" velocity="20.0" />
  </joint>
  <link name="l_elbow_y_link">
    <inertial>
      <origin xyz="0.0294655747878809 0.0164097672332367 -3.34010069602542E-10" rpy="0 0 0" />
      <mass value="0.0938669247468512" />
      <inertia ixx="4.361e-05" ixy="1.857e-05" ixz="0" iyy="8.534e-05" iyz="0" izz="8.443e-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_elbow_y_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/l_elbow_y_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_elbow_y_joint" type="revolute">
    <origin xyz="0 0 -0.256" rpy="0 0 0" />
    <parent link="l_shoulder_z_link" />
    <child link="l_elbow_y_link" />
    <axis xyz="0 1 0" />
    <limit lower="-0.95993" upper="1.6581" effort="50.0" velocity="20.0" />
  </joint>
  <link name="l_wrist_x_link">
    <inertial>
      <origin xyz="-0.124482573280326 -0.00110032750887867 3.42813276118792E-05" rpy="0 0 0" />
      <mass value="0.65867493591403" />
      <inertia ixx="0.00054605" ixy="4.444e-05" ixz="-2.1e-07" iyy="0.001834" iyz="-3.5e-07"
        izz="0.00208306" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_wrist_x_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_wrist_x_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_x_joint" type="revolute">
    <origin xyz="0.256 0 0" rpy="0 0 0" />
    <parent link="l_elbow_y_link" />
    <child link="l_wrist_x_link" />
    <axis xyz="1 0 0" />
    <limit lower="-2.8798" upper="2.8798" effort="25.0" velocity="20.0" />
  </joint>

  <link name="l_wrist_y_link">
    <inertial>
      <origin xyz="-1.24357420964172E-05 -0.000129932352764678 -0.00298555590958166" rpy="0 0 0" />
      <mass value="0.243805170394381" />
      <inertia ixx="0.00018369" ixy="-1e-08" ixz="-4e-08" iyy="0.00018676" iyz="-2.7e-07"
        izz="0.00014174" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_wrist_y_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_wrist_y_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_y_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="l_wrist_x_link" />
    <child link="l_wrist_y_link" />
    <axis xyz="0 1 0" />
    <limit lower="-1.309" upper="1.309" effort="25.0" velocity="20.0" />
  </joint>
  <link name="l_wrist_z_link">
    <inertial>
      <origin xyz="0.030869473456847 1.39176117852635E-09 0.0141752231501207" rpy="0 0 0" />
      <mass value="0.106560860250811" />
      <inertia ixx="7.12e-05" ixy="0" ixz="2.562e-05" iyy="8.685e-05" iyz="0" izz="7.068e-05" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_wrist_z_link.STL" />
      </geometry>
      <material name="">
        <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="./meshes/l_wrist_z_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_z_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <parent link="l_wrist_y_link" />
    <child link="l_wrist_z_link" />
    <axis xyz="0 0 1" />
    <limit lower="-0.7854" upper="0.7854" effort="25.0" velocity="20.0" />
  </joint>
</robot>
