robot.urdf

<robot name="onshape">
<link name="torso">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="torso_visual.stl" />
</geometry>
<material name="torso_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.0020010285079479218 -1.0497868061065674e-05 0.1085677845403552" rpy="0 -0 0" />
<geometry>
<box size="0.13950913399457932 0.1899828165769577 0.2618043217808008" /></geometry>
<material name="torso_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.000971341 -7.63301e-05 0.0898493" rpy="0 0 0" />
<mass value="1.83264" />
<inertia ixx="0.0154924" ixy="9.19136e-05" ixz="-0.00117023" iyy="0.0131549" iyz="2.21205e-06" izz="0.00592676" />
</inertial>
</link>

<link name="left_hip_yaw">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_hip_yaw_visual.stl" />
</geometry>
<material name="left_hip_yaw_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 -0.0072372425347566605 -0.03674998944263397" rpy="0 -0 0" />
<geometry>
<box size="0.10850000381469727 0.09402551129460335 0.07350000609436158" /></geometry>
<material name="left_hip_yaw_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.0021828 -0.00894798 -0.0247563" rpy="0 0 0" />
<mass value="0.0594023" />
<inertia ixx="0.000118627" ixy="-4.66981e-07" ixz="-1.50388e-06" iyy="5.24124e-05" iyz="1.01414e-07" izz="0.000103641" />
</inertial>
</link>

<link name="left_hip_roll">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_hip_roll_visual.stl" />
</geometry>
<material name="left_hip_roll_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.021138235460966825 0.0013499995693564415 -0.026825002394616604" rpy="0 -0 0" />
<geometry>
<box size="0.07245294097810984 0.05529999919235706 0.09385000355541706" /></geometry>
<material name="left_hip_roll_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.015733 -0.000686158 -0.0217073" rpy="0 0 0" />
<mass value="0.395953" />
<inertia ixx="0.000314298" ixy="1.5275e-09" ixz="9.78365e-18" iyy="0.000375808" iyz="5.62038e-06" izz="0.000127785" />
</inertial>
</link>

<link name="left_upper_leg">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_upper_leg_visual.stl" />
</geometry>
<material name="left_upper_leg_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.10306360386312008 0.030367384664714336 0.0" rpy="0 -0 0" />
<geometry>
<box size="0.2462693639099598 0.09347053803503513 0.0729999989271164" /></geometry>
<material name="left_upper_leg_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.144296 0.0401097 0.000258488" rpy="0 0 0" />
<mass value="0.313357" />
<inertia ixx="0.000224379" ixy="-0.00012767" ixz="-4.07576e-06" iyy="0.00166178" iyz="-8.94105e-07" izz="0.00160067" />
</inertial>
</link>

<link name="left_lower_leg">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_lower_leg_visual.stl" />
</geometry>
<material name="left_lower_leg_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.10010144207626581 0.0010000001639127731 0.0" rpy="0 -0 0" />
<geometry>
<box size="0.2292028944939375 0.03099999949336052 0.07800000160932541" /></geometry>
<material name="left_lower_leg_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.1001 0.00388186 -1.61259e-08" rpy="0 0 0" />
<mass value="0.0893011" />
<inertia ixx="9.01254e-05" ixy="1.57184e-09" ixz="-7.87158e-11" iyy="0.000408951" iyz="1.16101e-11" izz="0.0003363" />
</inertial>
</link>

<link name="left_ankle">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_ankle_visual.stl" />
</geometry>
<material name="left_ankle_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.018049999605864286 0.027093998156487942 -0.0016675600782036781" rpy="0 -0 0" />
<geometry>
<box size="0.06627646926790476 0.09438799507915974 0.05529999919235706" /></geometry>
<material name="left_ankle_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.015733 0.0219762 0.000512596" rpy="0 0 0" />
<mass value="0.329993" />
<inertia ixx="0.000265762" ixy="1.27304e-09" ixz="1.31968e-18" iyy="0.000157847" iyz="3.6829e-06" izz="0.000265677" />
</inertial>
</link>

<link name="left_foot">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_foot_visual.stl" />
</geometry>
<material name="left_foot_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.00950343906879425 0.010943666100502014 0.02115987241268158" rpy="0 -0 0" />
<geometry>
<box size="0.05699313431978226 0.13158147037029266 0.21582108736038208" /></geometry>
<material name="left_foot_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.0248226 0.00798542 0.033284" rpy="0 0 0" />
<mass value="0.245581" />
<inertia ixx="0.00134722" ixy="-9.73697e-06" ixz="2.7382e-08" iyy="0.00108383" iyz="-1.34065e-05" izz="0.000332029" />
</inertial>
</link>

<link name="left_foot_base">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_foot_base_visual.stl" />
</geometry>
<material name="left_foot_base_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 4.999999873689376e-06" rpy="0 -0 0" />
<geometry>
<box size="9.999999747378752e-06 1.0163475963054225e-05 9.999999747378752e-06" /></geometry>
<material name="left_foot_base_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-1.1367e-35 8.57143e-35 5e-06" rpy="0 0 0" />
<mass value="1.01635e-23" />
<inertia ixx="1.16167e-123" ixy="0" ixz="0" iyy="0" iyz="0" izz="1.16167e-123" />
</inertial>
</link>

<joint name="left_foot_base" type="fixed">
<origin xyz="0.038 6.93889e-18 1.38778e-17" rpy="-4.52109e-30 -1.5708 0" />
<parent link="left_foot" />
<child link="left_foot_base" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_ankle_roll" type="revolute">
<origin xyz="0 0 6.93889e-18" rpy="1.5708 3.37316e-16 -3.88578e-16" />
<parent link="left_ankle" />
<child link="left_foot" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_ankle_pitch" type="revolute">
<origin xyz="0.200203 -3.46945e-17 6.93889e-18" rpy="-3.05311e-15 5.55112e-17 -2.87748e-14" />
<parent link="left_lower_leg" />
<child link="left_ankle" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_knee_pitch" type="revolute">
<origin xyz="0.206046 0.0569501 -1.44745e-14" rpy="-4.42146e-14 -3.94129e-15 -1.40554e-13" />
<parent link="left_upper_leg" />
<child link="left_lower_leg" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_hip_pitch" type="revolute">
<origin xyz="0 -6.93889e-18 -1.38778e-17" rpy="-1.5708 -1.29896e-14 3.34849e-14" />
<parent link="left_hip_roll" />
<child link="left_upper_leg" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_hip_roll" type="revolute">
<origin xyz="0.0221332 0 -0.0545" rpy="-4.55628e-30 1.5708 0" />
<parent link="left_hip_yaw" />
<child link="left_hip_roll" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_hip_yaw" type="revolute">
<origin xyz="7.63278e-17 0.055 0" rpy="-5.43064e-25 -3.21985e-24 6.16346e-16" />
<parent link="torso" />
<child link="left_hip_yaw" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<link name="right_hip_yaw">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_hip_yaw_visual.stl" />
</geometry>
<material name="right_hip_yaw_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0072372425347566605 -0.03674998944263397" rpy="0 -0 0" />
<geometry>
<box size="0.10850000381469727 0.09402551129460335 0.07350000609436158" /></geometry>
<material name="right_hip_yaw_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.00218277 0.0089479 -0.0247564" rpy="0 0 0" />
<mass value="0.0594022" />
<inertia ixx="0.000118626" ixy="4.67166e-07" ixz="-1.50417e-06" iyy="5.24117e-05" iyz="-1.01073e-07" izz="0.000103641" />
</inertial>
</link>

<link name="right_hip_roll">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_hip_roll_visual.stl" />
</geometry>
<material name="right_hip_roll_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.018049999605864286 -0.003150000236928463 -0.026950000785291195" rpy="0 -0 0" />
<geometry>
<box size="0.06627646926790476 0.05529999919235706 0.09410000033676624" /></geometry>
<material name="right_hip_roll_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.015733 -0.000232251 -0.0218286" rpy="0 0 0" />
<mass value="0.395953" />
<inertia ixx="0.000316367" ixy="-9.04561e-09" ixz="-5.97158e-20" iyy="0.000378025" iyz="1.97787e-06" izz="0.000127637" />
</inertial>
</link>

<link name="right_upper_leg">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_upper_leg_visual.stl" />
</geometry>
<material name="right_upper_leg_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.10306360386312008 0.030367384664714336 -1.862645149230957e-09" rpy="0 -0 0" />
<geometry>
<box size="0.2462693639099598 0.09347053803503513 0.07300000265240669" /></geometry>
<material name="right_upper_leg_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.144343 0.0400917 -0.000278506" rpy="0 0 0" />
<mass value="0.313809" />
<inertia ixx="0.000224588" ixy="-0.000159275" ixz="4.71407e-06" iyy="0.0016624" iyz="8.15625e-07" izz="0.0016013" />
</inertial>
</link>

<link name="right_lower_leg">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_lower_leg_visual.stl" />
</geometry>
<material name="right_lower_leg_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.10010144487023354 0.0010000001639127731 0.0" rpy="0 -0 0" />
<geometry>
<box size="0.22920288890600204 0.03099999949336052 0.07800000160932541" /></geometry>
<material name="right_lower_leg_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.100103 0.00388186 1.61259e-08" rpy="0 0 0" />
<mass value="0.0893011" />
<inertia ixx="9.01254e-05" ixy="-1.57184e-09" ixz="-7.87158e-11" iyy="0.000408951" iyz="-1.16101e-11" izz="0.0003363" />
</inertial>
</link>

<link name="right_ankle">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_ankle_visual.stl" />
</geometry>
<material name="right_ankle_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.017755881883203983 0.026943995617330074 -0.0016675600782036781" rpy="0 -0 0" />
<geometry>
<box size="0.0656882356852293 0.094087990000844 0.05529999919235706" /></geometry>
<material name="right_ankle_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.015733 0.0218226 0.000508968" rpy="0 0 0" />
<mass value="0.329993" />
<inertia ixx="0.000263648" ixy="7.53715e-09" ixz="2.47334e-19" iyy="0.000157848" iyz="3.69071e-06" izz="0.000263561" />
</inertial>
</link>

<link name="right_foot">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_foot_visual.stl" />
</geometry>
<material name="right_foot_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.009506719186902046 -0.010944709181785583 0.021159902215003967" rpy="0 -0 0" />
<geometry>
<box size="0.056986574083566666 0.13157938420772552 0.21582114696502686" /></geometry>
<material name="right_foot_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.024823 -0.00798676 0.0332808" rpy="0 0 0" />
<mass value="0.245567" />
<inertia ixx="0.00134712" ixy="9.73589e-06" ixz="2.22656e-08" iyy="0.00108376" iyz="1.34039e-05" izz="0.000331997" />
</inertial>
</link>

<link name="right_foot_base">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_foot_base_visual.stl" />
</geometry>
<material name="right_foot_base_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 4.999999873689376e-06" rpy="0 -0 0" />
<geometry>
<box size="9.999999747378752e-06 1.0163475963054225e-05 9.999999747378752e-06" /></geometry>
<material name="right_foot_base_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0 0 5e-06" rpy="0 0 0" />
<mass value="1.01635e-23" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>

<joint name="right_foot_base" type="fixed">
<origin xyz="0.038 0 6.93889e-18" rpy="-1.26218e-29 -1.5708 0" />
<parent link="right_foot" />
<child link="right_foot_base" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_ankle_roll" type="revolute">
<origin xyz="1.27676e-15 1.249e-16 -8.46545e-16" rpy="1.5708 -1.11022e-15 7.94382e-15" />
<parent link="right_ankle" />
<child link="right_foot" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_ankle_pitch" type="revolute">
<origin xyz="0.200203 4.85723e-17 -6.93889e-18" rpy="1.88738e-15 -2.83277e-16 1.06524e-14" />
<parent link="right_lower_leg" />
<child link="right_ankle" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_knee_pitch" type="revolute">
<origin xyz="0.206046 0.0569501 -7.16788e-15" rpy="-7.0209e-15 3.9968e-14 -5.66214e-15" />
<parent link="right_upper_leg" />
<child link="right_lower_leg" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_hip_pitch" type="revolute">
<origin xyz="-1.249e-16 0 3.81639e-17" rpy="-1.5708 -1.66533e-16 3.79139e-29" />
<parent link="right_hip_roll" />
<child link="right_upper_leg" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_hip_roll" type="revolute">
<origin xyz="0.0221332 0 -0.0545" rpy="1.36238e-31 1.5708 0" />
<parent link="right_hip_yaw" />
<child link="right_hip_roll" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_hip_yaw" type="revolute">
<origin xyz="-6.93889e-18 -0.055 -5.55112e-17" rpy="-1.44515e-26 2.05167e-26 2.3927e-15" />
<parent link="torso" />
<child link="right_hip_yaw" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<link name="neck">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="neck_visual.stl" />
</geometry>
<material name="neck_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.00024471059441566467 -0.002755293622612953 0.030682351323775947" rpy="0 -0 0" />
<geometry>
<box size="0.04019999876618385 0.05000000074505806 0.062835298711434" /></geometry>
<material name="neck_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.000244686 -0.000118134 0.0329091" rpy="0 0 0" />
<mass value="0.165011" />
<inertia ixx="6.78379e-05" ixy="-3.83231e-11" ixz="-3.6907e-11" iyy="5.66275e-05" iyz="2.05608e-06" izz="3.85117e-05" />
</inertial>
</link>

<link name="head">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="head_visual.stl" />
</geometry>
<material name="head_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.06592875579372048 -0.0043320730328559875 -0.00020501762628555298" rpy="0 -0 0" />
<geometry>
<box size="0.16223767679184675 0.15564338862895966 0.15779687464237213" /></geometry>
<material name="head_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.0665563 -0.0103216 -0.000100617" rpy="0 0 0" />
<mass value="0.473503" />
<inertia ixx="0.0019685" ixy="6.68987e-06" ixz="8.0299e-06" iyy="0.0014533" iyz="-1.73055e-07" izz="0.00107445" />
</inertial>
</link>

<link name="left_camera">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_camera_visual.stl" />
</geometry>
<material name="left_camera_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 4.999999873717131e-06" rpy="0 -0 0" />
<geometry>
<box size="9.999999747378752e-06 1.0163475963054225e-05 9.99999974732324e-06" /></geometry>
<material name="left_camera_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-1.38778e-17 1.2133e-35 5e-06" rpy="0 0 0" />
<mass value="1.01635e-15" />
<inertia ixx="0" ixy="0" ixz="0" iyy="2.4127e-81" iyz="0" izz="2.4127e-81" />
</inertial>
</link>

<joint name="left_camera" type="fixed">
<origin xyz="-0.0648803 -0.0699522 0.033795" rpy="1.5708 -1.63801e-13 -1.53589" />
<parent link="head" />
<child link="left_camera" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" />
<joint_properties friction="0.0" />
</joint>

<link name="right_camera">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_camera_visual.stl" />
</geometry>
<material name="right_camera_material">
<color rgba="0.615686 0.811765 0.929412 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 0.0 4.999999873689376e-06" rpy="0 -0 0" />
<geometry>
<box size="9.999999747378752e-06 1.0163475963054225e-05 9.999999747378752e-06" /></geometry>
<material name="right_camera_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-6.93892e-18 3.23117e-35 5e-06" rpy="0 0 0" />
<mass value="1.01635e-23" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>

<joint name="right_camera" type="fixed">
<origin xyz="-0.0648803 -0.0699522 -0.034205" rpy="1.5708 -1.63801e-13 -1.53589" />
<parent link="head" />
<child link="right_camera" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" />
<joint_properties friction="0.0" />
</joint>

<joint name="head_pitch" type="revolute">
<origin xyz="-0.00024471 -0.000255294 0.0481" rpy="1.5708 1.5708 0" />
<parent link="neck" />
<child link="head" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="neck_yaw" type="revolute">
<origin xyz="-0.008 2.09034e-16 0.20825" rpy="-1.1045e-15 2.10942e-15 -3.14159" />
<parent link="torso" />
<child link="neck" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<link name="left_shoulder">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_shoulder_visual.stl" />
</geometry>
<material name="left_shoulder_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 -0.0007210467010736465 0.039686582237482115" rpy="0 -0 0" />
<geometry>
<box size="0.07999999821186066 0.08144209161400795 0.0793731525540351" /></geometry>
<material name="left_shoulder_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-3.61374e-05 -0.00254925 0.0287427" rpy="0 0 0" />
<mass value="0.0845502" />
<inertia ixx="7.30295e-05" ixy="1.04146e-07" ixz="-7.55192e-08" iyy="9.74311e-05" iyz="-3.99116e-06" izz="9.33613e-05" />
</inertial>
</link>

<link name="left_upper_arm">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_upper_arm_visual.stl" />
</geometry>
<material name="left_upper_arm_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.07303228229284286 -1.3921409845352173e-05 0.010696256533265114" rpy="0 -0 0" />
<geometry>
<box size="0.22483809292316437 0.07902275025844574 0.08959516510367393" /></geometry>
<material name="left_upper_arm_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.045902 0.000372495 9.27204e-06" rpy="0 0 0" />
<mass value="0.29923" />
<inertia ixx="0.000626399" ixy="2.62861e-05" ixz="-3.50557e-05" iyy="0.000588449" iyz="6.36267e-06" izz="0.000985251" />
</inertial>
</link>

<link name="left_lower_arm">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="left_lower_arm_visual.stl" />
</geometry>
<material name="left_lower_arm_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.0024787113070487976 -0.09564930573105812 -0.0025215083733201027" rpy="0 -0 0" />
<geometry>
<box size="0.08257202059030533 0.25829844921827316 0.050921617075800896" /></geometry>
<material name="left_lower_arm_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.000605553 -0.0509966 6.9181e-05" rpy="0 0 0" />
<mass value="0.287325" />
<inertia ixx="0.000778471" ixy="-5.29345e-05" ixz="1.09973e-05" iyy="0.000543727" iyz="3.47398e-05" izz="0.0011506" />
</inertial>
</link>

<joint name="left_elbow_pitch" type="revolute">
<origin xyz="0.1575 -5.57465e-05 0.02695" rpy="-1.5708 1.5708 0" />
<parent link="left_upper_arm" />
<child link="left_lower_arm" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_shoulder_roll" type="revolute">
<origin xyz="0 -0.0100012 0.0479124" rpy="1.5708 3.06087e-14 -1.5708" />
<parent link="left_shoulder" />
<child link="left_upper_arm" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="left_shoulder_pitch" type="revolute">
<origin xyz="-5.659e-18 0.077 0.17725" rpy="-1.5708 1.5708 0" />
<parent link="torso" />
<child link="left_shoulder" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<link name="right_shoulder">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_shoulder_visual.stl" />
</geometry>
<material name="right_shoulder_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.0 -0.0007335953414440155 -0.03968089744448666" rpy="0 -0 0" />
<geometry>
<box size="0.07999999821186066 0.08146718889474869 0.07936178296804419" /></geometry>
<material name="right_shoulder_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-3.46247e-05 -0.00254925 -0.0287427" rpy="0 0 0" />
<mass value="0.0845501" />
<inertia ixx="7.30296e-05" ixy="1.04639e-07" ixz="7.5393e-08" iyy="9.74312e-05" iyz="3.99136e-06" izz="9.33615e-05" />
</inertial>
</link>

<link name="right_upper_arm">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_upper_arm_visual.stl" />
</geometry>
<material name="right_upper_arm_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="0.07302819937467575 1.3921409845352173e-05 0.010696256533265114" rpy="0 -0 0" />
<geometry>
<box size="0.22482992708683014 0.07902275025844574 0.08959516510367393" /></geometry>
<material name="right_upper_arm_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="0.0458986 -0.000371241 0.000118834" rpy="0 0 0" />
<mass value="0.299218" />
<inertia ixx="0.000626351" ixy="3.14812e-05" ixz="-3.41719e-05" iyy="0.000588348" iyz="-6.3835e-06" izz="0.000985155" />
</inertial>
</link>

<link name="right_lower_arm">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0" />
<geometry>
<mesh filename="right_lower_arm_visual.stl" />
</geometry>
<material name="right_lower_arm_material">
<color rgba="0.286275 0.286275 0.286275 1.0" />
</material>
</visual>
<collision>
<origin xyz="-0.0024787113070487976 -0.0956590510904789 0.0025391047820448875" rpy="0 -0 0" />
<geometry>
<box size="0.08257202059030533 0.2583179399371147 0.050956809893250465" /></geometry>
<material name="right_lower_arm_material">
<color rgba="0.5 0.5 0.5 1.0" />
</material>
</collision>
<inertial>
<origin xyz="-0.00060488 -0.0510002 -6.85101e-05" rpy="0 0 0" />
<mass value="0.28735" />
<inertia ixx="0.000778625" ixy="3.06735e-05" ixz="9.86034e-06" iyy="0.000543818" iyz="-3.47472e-05" izz="0.00115082" />
</inertial>
</link>

<joint name="right_elbow_pitch" type="revolute">
<origin xyz="0.1575 5.57465e-05 0.02695" rpy="-1.5708 1.5708 0" />
<parent link="right_upper_arm" />
<child link="right_lower_arm" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_shoulder_roll" type="revolute">
<origin xyz="0 -0.0100012 -0.0479124" rpy="1.5708 -4.32987e-15 -1.5708" />
<parent link="right_shoulder" />
<child link="right_upper_arm" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>

<joint name="right_shoulder_pitch" type="revolute">
<origin xyz="-3.55526e-17 -0.077 0.17725" rpy="-1.5708 1.5708 0" />
<parent link="torso" />
<child link="right_shoulder" />
<axis xyz="0 0 1" />
<limit effort="1" velocity="20" lower="-3.14159" upper="3.14159" />
<joint_properties friction="0.0" />
</joint>


</robot>