<?xml version="1.0" encoding="UTF-8"?>

<robot name="alex_nub_hands">
    <group name="left_arm">
        <joint name="LeftShoulderPitch"/>
        <joint name="LeftShoulderRoll"/>
        <joint name="LeftShoulderYaw"/>
        <joint name="LeftElbowPitch"/>
        <joint name="LeftWristYaw"/>
        <joint name="LeftWristRoll"/>
        <joint name="LeftGripperYaw"/>
    </group>

    <group name="right_arm">
        <joint name="RightShoulderPitch"/>
        <joint name="RightShoulderRoll"/>
        <joint name="RightShoulderYaw"/>
        <joint name="RightElbowPitch"/>
        <joint name="RightWristYaw"/>
        <joint name="RightWristRoll"/>
        <joint name="RightGripperYaw"/>
    </group>

    <group name="spine">
        <joint name="SpineYaw"/>
        <joint name="SpineRoll"/>
        <joint name="SpinePitch"/>
    </group>

    <group name="neck">
        <joint name="NeckYaw"/>
        <joint name="NeckPitch"/>
    </group>

    <group name="left_hand">
        <joint name="Left_index_q1"/>
        <joint name="Left_index_q2"/>
        <joint name="Left_middle_q1"/>
        <joint name="Left_middle_q2"/>
        <joint name="Left_ring_q1"/>
        <joint name="Left_ring_q2"/>
        <joint name="Left_pinky_q1"/>
        <joint name="Left_pinky_q2"/>
        <joint name="Left_thumb_q1"/>
        <joint name="Left_thumb_q2"/>
    </group>

    <group name="right_hand">
        <joint name="Right_index_q1"/>
        <joint name="Right_index_q2"/>
        <joint name="Right_middle_q1"/>
        <joint name="Right_middle_q2"/>
        <joint name="Right_ring_q1"/>
        <joint name="Right_ring_q2"/>
        <joint name="Right_pinky_q1"/>
        <joint name="Right_pinky_q2"/>
        <joint name="Right_thumb_q1"/>
        <joint name="Right_thumb_q2"/>
    </group>

    <group name="arms_spine_neck_hands">
        <group name="left_arm"/>
        <group name="right_arm"/>
        <group name="spine"/>
        <group name="neck"/>
        <group name="left_hand"/>
        <group name="right_hand"/>
    </group>

    <group_state name="default" group="arms_spine_neck_hands">
        <joint name="LeftShoulderPitch"     value="0.0"/>
        <joint name="LeftShoulderRoll"      value="0.0"/>
        <joint name="LeftShoulderYaw"       value="0.0"/>
        <joint name="LeftElbowPitch"        value="0.0"/>
        <joint name="LeftWristYaw"          value="0.0"/>
        <joint name="LeftWristRoll"         value="0.0"/>
        <joint name="LeftGripperYaw"        value="0.0"/>

        <joint name="RightShoulderPitch"    value="0.0"/>
        <joint name="RightShoulderRoll"     value="0.0"/>
        <joint name="RightShoulderYaw"      value="0.0"/>
        <joint name="RightElbowPitch"       value="0.0"/>
        <joint name="RightWristYaw"         value="0.0"/>
        <joint name="RightWristRoll"        value="0.0"/>
        <joint name="RightGripperYaw"       value="0.0"/>

        <joint name="SpineYaw"              value="0.0"/>
        <joint name="SpineRoll"             value="0.0"/>
        <joint name="SpinePitch"            value="0.0"/>

        <joint name="NeckYaw"               value="0.0"/>
        <joint name="NeckPitch"             value="0.0"/>

        <joint name="Left_index_q1"         value="0.001"/>
        <joint name="Left_index_q2"         value="0.001"/>
        <joint name="Left_middle_q1"        value="0.001"/>
        <joint name="Left_middle_q2"        value="0.001"/>
        <joint name="Left_ring_q1"          value="0.001"/>
        <joint name="Left_ring_q2"          value="0.001"/>
        <joint name="Left_pinky_q1"         value="0.001"/>
        <joint name="Left_pinky_q2"         value="0.001"/>
        <joint name="Left_thumb_q1"         value="0.001"/>
        <joint name="Left_thumb_q2"         value="0.001"/>

        <joint name="Right_index_q1"        value="0.001"/>
        <joint name="Right_index_q2"        value="0.001"/>
        <joint name="Right_middle_q1"       value="0.001"/>
        <joint name="Right_middle_q2"       value="0.001"/>
        <joint name="Right_ring_q1"         value="0.001"/>
        <joint name="Right_ring_q2"         value="0.001"/>
        <joint name="Right_pinky_q1"        value="0.001"/>
        <joint name="Right_pinky_q2"        value="0.001"/>
        <joint name="Right_thumb_q1"        value="0.001"/>
        <joint name="Right_thumb_q2"        value="0.001"/>

    </group_state>

    <end_effector name="left_arm_end_effector" parent_link="LeftGripperYaw" group="left_arm"/>
    <end_effector name="right_arm_end_effector" parent_link="RightGripperYaw" group="right_arm"/>

</robot>
