<?xml version="1.0"?>
<!-- Exported by Polykrom; units: m, kg, rad -->
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      <origin xyz="0.20500000000000002 0.12 0.0078" rpy="1.5707963267948966 0 -1.5707963267948966"/>
      <geometry><mesh filename="kestrel-Jaw_R.stl"/></geometry>
    </collision>
  </link>
  <joint name="Base_fixed" type="fixed">
    <parent link="base_link"/>
    <child link="Base"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="Motor_Mount" type="fixed">
    <parent link="Base"/>
    <child link="Yaw_Motor"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="Yaw" type="revolute">
    <parent link="Base"/>
    <child link="Turntable"/>
    <origin xyz="0 0 0.04" rpy="0 0 1.5707963267948966"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.9670597283903604" upper="2.9670597283903604" effort="1000" velocity="10"/>
    <mimic joint="Pinion_Spin" multiplier="-0.2" offset="0"/>
  </joint>
  <joint name="Bearing_608_seat" type="fixed">
    <parent link="Base"/>
    <child link="Bearing_608"/>
    <origin xyz="1.0658141036401508e-17 8.056200538839706e-33 0.032999999999999946" rpy="-3.141592653589793 5.845073289806298e-16 -1.5707963267948966"/>
  </joint>
  <joint name="Pinion_Spin" type="continuous">
    <parent link="Yaw_Motor"/>
    <child link="Pinion"/>
    <origin xyz="0.059999999999999984 -2.1094237467877975e-17 0.050000000000000024" rpy="0 0 1.5707963267948966"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000" velocity="10"/>
  </joint>
  <joint name="Yoke_Mount" type="fixed">
    <parent link="Turntable"/>
    <child link="Shoulder_Yoke"/>
    <origin xyz="0 0 -0.04" rpy="0 0 -1.5707963267948966"/>
  </joint>
  <joint name="Shoulder_Pin_Fix" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="Shoulder_Pin"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>
  <joint name="Shoulder" type="revolute">
    <parent link="Shoulder_Yoke"/>
    <child link="Upper_Arm"/>
    <origin xyz="-9.769962616701377e-18 0.009999999999999558 0.095" rpy="0 1.5707963267948966 1.5707963267948966"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.0053833105414847" upper="1.9984019935335073" effort="1000" velocity="10"/>
  </joint>
  <joint name="Washer_M4_1_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="Washer_M4_1"/>
    <origin xyz="0.020000000000000004 0.015 0.056000000000000286" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="SHCS_M4x12_1_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="SHCS_M4x12_1"/>
    <origin xyz="0.020000000000000004 0.015 0.056000000000000286" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="Washer_M4_2_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="Washer_M4_2"/>
    <origin xyz="-0.020000000000000004 0.015000000000000008 0.056" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="Washer_M4_3_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="Washer_M4_3"/>
    <origin xyz="-0.020000000000000007 -0.014999999999999996 0.056" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="Washer_M4_4_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="Washer_M4_4"/>
    <origin xyz="0.02 -0.015 0.05600000000000028" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="SHCS_M4x12_2_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="SHCS_M4x12_2"/>
    <origin xyz="-0.020000000000000004 0.015000000000000008 0.056" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="SHCS_M4x12_3_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="SHCS_M4x12_3"/>
    <origin xyz="-0.020000000000000007 -0.014999999999999996 0.056" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="SHCS_M4x12_4_seat" type="fixed">
    <parent link="Shoulder_Yoke"/>
    <child link="SHCS_M4x12_4"/>
    <origin xyz="0.02 -0.015 0.05600000000000028" rpy="0 0 1.5707963267948966"/>
  </joint>
  <joint name="Elbow_Pin_Fix" type="fixed">
    <parent link="Upper_Arm"/>
    <child link="Elbow_Pin"/>
    <origin xyz="0.095 -9.769962616701377e-18 -0.009999999999999558" rpy="1.5707963267948966 0 -1.5707963267948966"/>
  </joint>
  <joint name="Elbow" type="revolute">
    <parent link="Upper_Arm"/>
    <child link="Forearm"/>
    <origin xyz="-0.14 -4.440892098500626e-19 2.0000000000043627e-4" rpy="3.141592653589793 0 3.141592653589793"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.181587903600161" upper="4.492477494633404" effort="1000" velocity="10"/>
  </joint>
  <joint name="Wrist_Mount" type="fixed">
    <parent link="Forearm"/>
    <child link="Wrist"/>
    <origin xyz="2.557953848736361e-16 -0.12000000000000019 -0.010000000000000009" rpy="3.141592653589793 0 3.141592653589793"/>
  </joint>
  <joint name="Jaw_L_Slide" type="prismatic">
    <parent link="Wrist"/>
    <child link="Jaw_L"/>
    <origin xyz="0.030000000000000256 1.7053025658242405e-16 0.018000000000000002" rpy="3.141592653589793 0 3.141592653589793"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="0.015" effort="1000" velocity="10"/>
  </joint>
  <joint name="Jaw_R_Slide" type="prismatic">
    <parent link="Wrist"/>
    <child link="Jaw_R"/>
    <origin xyz="0.030000000000000256 1.7053025658242405e-16 -0.028000000000000004" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="0" upper="0.015" effort="1000" velocity="10"/>
    <mimic joint="Jaw_L_Slide" multiplier="1" offset="0"/>
  </joint>
</robot>
