<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content fa405b671d5ec8ab -->
<robot name="onshape">
  <material name="torso_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="torso">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/torso.stl" />
      </geometry>
      <material name="torso_material" />
    </visual>
    <collision>
      <origin xyz="0.02 0.0 0.12" rpy="0.0 -0.0 0.0" />
      <geometry>
        <box size="0.18 0.25 0.25" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.012329400000000034 -0.002355700000000008 0.11404699999999998" rpy="0.0 0.0 0.0" />
      <mass value="5.378118099999988" />
      <inertia ixx="0.08987643104517812" ixy="-0.001203664471156374" ixz="-0.00038411829254754817" iyy="0.08172543803923042" iyz="0.0006097629658906616" izz="0.053041587061182685" />
    </inertial>
  </link>
  <material name="ll_hr_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="ll_hr">
    <visual>
      <origin xyz="8.34111618675517e-17 -0.06999999999999985 1.5210270693501457e-16" rpy="-4.796027333222789e-28 -0.7853981633974496 -2.593199635713451e-31" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/ll_hr.stl" />
      </geometry>
      <material name="ll_hr_material" />
    </visual>
    <inertial>
      <origin xyz="-0.007175012508700156 0.0006380000000000274 -0.06032964346405477" rpy="0.0 0.0 0.0" />
      <mass value="0.7970000000000008" />
      <inertia ixx="0.0016406343011190646" ixy="4.234662351696323e-06" ixz="-0.00011521182091135505" iyy="0.00124841528511096" iyz="5.876435181907716e-06" izz="0.0007896135700041131" />
    </inertial>
  </link>
  <material name="ll_haa_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="ll_haa">
    <visual>
      <origin xyz="0.06499999999999957 -0.06999999999999974 0.015799999999995967" rpy="4.216698651287455e-15 0.7853981633974483 5.123390219525089e-31" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/ll_haa.stl" />
      </geometry>
      <material name="ll_haa_material" />
    </visual>
    <collision>
      <origin xyz="6.779849720146836e-05 -0.01499999999999932 -0.06493179542163435" rpy="1.5707963267949008 0.7853981633974483 5.123390219525089e-31" />
      <geometry>
        <cylinder length="0.05" radius="0.055" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0006066138644661018 -0.009734999999999392 -0.06110917616253943" rpy="0.0 0.0 0.0" />
      <mass value="0.8969999999999976" />
      <inertia ixx="0.0014612661065417927" ixy="-9.508658014417259e-07" ixz="4.926316912050015e-06" iyy="0.0018641696668689586" iyz="-0.00015708831652932372" izz="0.0009493118631299256" />
    </inertial>
  </link>
  <material name="ll_hfe_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="ll_hfe">
    <visual>
      <origin xyz="0.10309616869699469 -0.011172287142745999 -0.08579999999999492" rpy="1.5707963267949039 1.7489923064381123e-14 1.5707963267948966" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/ll_hfe.stl" />
      </geometry>
      <material name="ll_hfe_material" />
    </visual>
    <collision>
      <origin xyz="9.616869699569097e-05 -2.871427435477414e-07 0.054200000000005646" rpy="-3.141592653589786 1.7489923064381123e-14 1.5707963267948966" />
      <geometry>
        <cylinder length="0.09" radius="0.0615" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.11490383130300429 -2.871427434610052e-07 0.05920000000000643" rpy="-3.141592653589786 1.7489923064381123e-14 1.5707963267948966" />
      <geometry>
        <cylinder length="0.08" radius="0.052" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05969983130300428 -0.0009992871427437038 0.045473000000006036" rpy="0.0 0.0 0.0" />
      <mass value="2.6890000000000014" />
      <inertia ixx="0.005994446433080979" ixy="0.00019079100061922965" ixz="0.0014556175188272181" iyy="0.018188324559920515" iyz="-5.4409777543802354e-05" izz="0.01897821589445203" />
    </inertial>
  </link>
  <material name="ll_kfe_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="ll_kfe">
    <visual>
      <origin xyz="0.3230961686969962 -0.011172287143240726 -0.15999999999999256" rpy="1.570796326794896 -1.8203544808569295e-14 1.5707963267948966" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/ll_kfe.stl" />
      </geometry>
      <material name="ll_kfe_material" />
    </visual>
    <collision>
      <origin xyz="-0.056903831303003916 -0.0011722871432436385 7.327471962526033e-15" rpy="1.570796326794896 -1.8203544808569295e-14 1.5707963267948966" />
      <geometry>
        <box size="0.03 0.04 0.16" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.08569483130300393 -0.0092802871432436 -0.0022319999999928183" rpy="0.0 0.0 0.0" />
      <mass value="0.35" />
      <inertia ixx="0.00010850320647079418" ixy="-0.00013018330729977633" ixz="-8.427911363677688e-06" iyy="0.0015842167893813238" iyz="-4.66283179651929e-06" izz="0.0016101360290329645" />
    </inertial>
  </link>
  <material name="ll_ffe_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="ll_ffe">
    <visual>
      <origin xyz="0.5030961686969982 -0.011172287143647298 -0.15999999999998818" rpy="1.570796326794896 -1.8203544808569295e-14 1.5707963267948966" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/ll_ffe.stl" />
      </geometry>
      <material name="ll_ffe_material" />
    </visual>
    <inertial>
      <origin xyz="-0.001078171303001807 0.023770712856349782 6.800000001205925e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.09932275000000006" />
      <inertia ixx="7.622030705455456e-05" ixy="-1.216971504725327e-05" ixz="2.766693355094511e-07" iyy="1.1575849952207156e-05" iyz="9.167777989500763e-07" izz="8.201510581178054e-05" />
    </inertial>
  </link>
  <material name="ll_faa_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="ll_faa">
    <visual>
      <origin xyz="-0.1599999999999891 0.5030961686969974 -0.028672287143649135" rpy="-1.5707963267948966 -1.5707963267948966 0.0" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/ll_faa.stl" />
      </geometry>
      <material name="ll_faa_material" />
    </visual>
    <collision>
      <origin xyz="1.0907941216942163e-14 -0.04290383130300268 0.013327712856350867" rpy="-3.141592653589793 -1.3962636194521678 1.5707963267948966" />
      <geometry>
        <box size="0.16 0.055 0.012" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="1.0907941216942163e-14 9.61686969973563e-05 0.038827712856350866" rpy="-3.141592653589793 -6.520241754503374e-42 1.5707963267948966" />
      <geometry>
        <cylinder length="0.065" radius="0.027" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-2.8999999989176573e-05 -0.01639783130300254 0.015338712856350831" rpy="0.0 0.0 0.0" />
      <mass value="0.5070000000000007" />
      <inertia ixx="0.001094197215332791" ixy="1.2622581346702726e-06" ixz="3.518238773449303e-06" iyy="0.0009101859819928103" iyz="-0.0001914608115996958" izz="0.00044396659684889345" />
    </inertial>
  </link>
  <link name="LL_FOOT">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-09" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="LL_FOOT_frame" type="fixed">
    <origin xyz="5.856426454897701e-15 -0.048688979881312267 0.01448502852658375" rpy="3.141592653589793 -1.3962634015954654 1.5707963267948966" />
    <parent link="ll_faa" />
    <child link="LL_FOOT" />
  </joint>
  <joint name="LL_FAA" type="revolute">
    <origin xyz="-3.6637359812630166e-15 0.01749999999999877 -3.885780586188048e-16" rpy="-1.570796326794894 -1.570796326794883 0.0" />
    <parent link="ll_ffe" />
    <child link="ll_faa" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="5.0" velocity="42.0" lower="-0.5235987755982988" upper="0.5235987755982988" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LL_FFE" type="revolute">
    <origin xyz="-0.1800000000000022 4.065723452351122e-13 -4.413136522884997e-15" rpy="1.147624068971068e-27 8.504665879167606e-29 8.326672684692303e-17" />
    <parent link="ll_kfe" />
    <child link="ll_ffe" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="20.0" lower="-0.5235987755982988" upper="0.6981317007977318" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LL_KFE" type="revolute">
    <origin xyz="-0.2199999999999999 5.003150671534229e-13 0.07419999999999992" rpy="-3.681702205337787e-14 8.726737449932709e-15 1.9428902930912523e-16" />
    <parent link="ll_hfe" />
    <child link="ll_kfe" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="14.0" lower="0.0" upper="2.0943951023931953" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LL_HFE" type="revolute">
    <origin xyz="2.636779683484747e-16 0.015799999999994957 -0.06499999999999953" rpy="-1.5707963267948812 -0.7853981633974485 7.042506685119117e-15" />
    <parent link="ll_haa" />
    <child link="ll_hfe" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="20.0" lower="-1.7453292519943295" upper="0.5235987755982988" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LL_HAA" type="revolute">
    <origin xyz="0.01579999999999627 -2.7755575615628914e-16 -0.06499999999999985" rpy="-3.987496691890159e-15 -1.570796326794895 0.0" />
    <parent link="ll_hr" />
    <child link="ll_haa" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="23.0" lower="-0.6108652381980153" upper="0.6108652381980153" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LL_HR" type="revolute">
    <origin xyz="-1.6653345369377348e-16 0.06999999999999985 -4.857225732735061e-17" rpy="4.2686888720530166e-16 0.7853981633974619 2.3800406090406728e-15" />
    <parent link="torso" />
    <child link="ll_hr" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="23.0" lower="-0.6108652381980153" upper="0.6108652381980153" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <material name="lr_hr_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="lr_hr">
    <visual>
      <origin xyz="9.813077866782516e-17 0.07000000000000006 1.766354016018358e-16" rpy="-1.8025612217018793e-27 -0.7853981633974493 -1.8367624050141598e-31" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/lr_hr.stl" />
      </geometry>
      <material name="lr_hr_material" />
    </visual>
    <inertial>
      <origin xyz="-0.007175012508700159 -0.0006380000000002356 -0.06032964346405583" rpy="0.0 0.0 0.0" />
      <mass value="0.7969999999999969" />
      <inertia ixx="0.0016409930094170519" ixy="8.063052666721336e-07" ixz="-0.00011521182091140818" iyy="0.001248415285110957" iyz="-4.368971794513558e-06" izz="0.00078997227830219" />
    </inertial>
  </link>
  <material name="lr_haa_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="lr_haa">
    <visual>
      <origin xyz="0.06499999999999959 0.07000000000000016 0.015799999999996452" rpy="3.3658857083033408e-15 0.7853981633974486 1.2683748906114756e-31" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/lr_haa.stl" />
      </geometry>
      <material name="lr_haa_material" />
    </visual>
    <collision>
      <origin xyz="6.779849720116304e-05 0.015000000000000506 -0.06493179542163416" rpy="1.5707963267948999 0.7853981633974486 1.2683748906114756e-31" />
      <geometry>
        <cylinder length="0.05" radius="0.055" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0006066138644655189 0.009735000000000955 -0.06110917616253942" rpy="0.0 0.0 0.0" />
      <mass value="0.8970000000000075" />
      <inertia ixx="0.0014661274494049469" ixy="-9.746025676814271e-08" ixz="1.2006374236349762e-06" iyy="0.0018651290713510968" iyz="0.0001596205201456631" izz="0.0009454098532350037" />
    </inertial>
  </link>
  <material name="lr_hfe_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="lr_hfe">
    <visual>
      <origin xyz="0.10309616869699548 -0.011172287142743416 0.08580000000000028" rpy="1.570796326794898 2.466301816374255e-15 1.5707963267948966" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/lr_hfe.stl" />
      </geometry>
      <material name="lr_hfe_material" />
    </visual>
    <collision>
      <origin xyz="9.616869699531627e-05 -2.8714274375937765e-07 -0.054199999999999623" rpy="-3.1415926535897922 2.466301816374255e-15 1.5707963267948966" />
      <geometry>
        <cylinder length="0.09" radius="0.0615" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.11490383130300469 -2.871427437715207e-07 -0.05919999999999946" rpy="-3.1415926535897922 2.466301816374255e-15 1.5707963267948966" />
      <geometry>
        <cylinder length="0.08" radius="0.052" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.05969983130300455 -0.0009992871427437454 -0.04547299999999941" rpy="0.0 0.0 0.0" />
      <mass value="2.6890000000000005" />
      <inertia ixx="0.005994409354066807" ixy="0.00019189741544671393" ixz="-0.0014560673148697135" iyy="0.018186321637810376" iyz="5.485600421884892e-05" izz="0.018976154384902376" />
    </inertial>
  </link>
  <material name="lr_kfe_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="lr_kfe">
    <visual>
      <origin xyz="0.32309616869699465 -0.011172287142751817 0.16000000000000006" rpy="1.5707963267948966 2.0387620342698703e-30 1.5707963267948966" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/lr_kfe.stl" />
      </geometry>
      <material name="lr_kfe_material" />
    </visual>
    <collision>
      <origin xyz="-0.05690383130300547 -0.0011722871427518166 5.551115123125783e-17" rpy="1.5707963267948966 2.0387620342698703e-30 1.5707963267948966" />
      <geometry>
        <box size="0.03 0.04 0.16" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.08569483130300548 -0.009280287142751817 0.0022320000000000395" rpy="0.0 0.0 0.0" />
      <mass value="0.35" />
      <inertia ixx="0.00010850319312452965" ixy="-0.00013018331822973312" ixz="8.428124909489654e-06" iyy="0.0015842167725954475" iyz="4.6628220175844335e-06" izz="0.0016101360242463364" />
    </inertial>
  </link>
  <material name="lr_ffe_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="lr_ffe">
    <visual>
      <origin xyz="0.5030961686969947 -0.011172287142751494 0.1599999999999999" rpy="1.5707963267948966 5.082684416318176e-31 1.5707963267948966" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/lr_ffe.stl" />
      </geometry>
      <material name="lr_ffe_material" />
    </visual>
    <inertial>
      <origin xyz="-0.0010781713030051376 0.023770712857248494 -6.800000000009576e-05" rpy="0.0 0.0 0.0" />
      <mass value="0.09932228000000004" />
      <inertia ixx="7.622033243367977e-05" ixy="-1.216942936395985e-05" ixz="-2.7660647920346263e-07" iyy="1.1575718442005015e-05" iyz="-9.166764928916178e-07" izz="8.201492674814341e-05" />
    </inertial>
  </link>
  <material name="lr_faa_material">
    <color rgba="0.9176470588235294 0.9176470588235294 0.9176470588235294 1.0" />
  </material>
  <link name="lr_faa">
    <visual>
      <origin xyz="0.1600000000000008 0.5030961686969947 -0.0286722871427516" rpy="-1.5707963267948966 -1.5707963267948966 0.0" />
      <geometry>
        <mesh filename="package://berkeley_humanoid_description/meshs/lr_faa.stl" />
      </geometry>
      <material name="lr_faa_material" />
    </visual>
    <collision>
      <origin xyz="8.049116928532385e-16 -0.042903831303005346 0.013327712857248403" rpy="3.141592653589793 -1.3962636194521678 1.5707963267948966" />
      <geometry>
        <box size="0.16 0.055 0.012" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="8.049116928532385e-16 9.616869699469177e-05 0.038827712857248405" rpy="3.141592653589793 -3.0814879110221995e-31 1.5707963267948966" />
      <geometry>
        <cylinder length="0.065" radius="0.027" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.9000000000833914e-05 -0.016336831303005117 0.015338712857248395" rpy="0.0 0.0 0.0" />
      <mass value="0.5070000000000001" />
      <inertia ixx="0.001094863416653529" ixy="-1.3506187775236007e-06" ixz="-3.517648571119088e-06" iyy="0.0009101859698586712" iyz="-0.00019142590272031566" izz="0.00044463279984352933" />
    </inertial>
  </link>
  <link name="LR_FOOT">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-09" />
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
    </inertial>
  </link>
  <joint name="LR_FOOT_frame" type="fixed">
    <origin xyz="-2.7755575615628914e-16 -0.04868897988131082 0.014485028526582469" rpy="-3.141592653589793 -1.3962634015954654 1.5707963267948966" />
    <parent link="lr_faa" />
    <child link="LR_FOOT" />
  </joint>
  <joint name="LR_FAA" type="revolute">
    <origin xyz="7.771561172376096e-16 0.017500000000000016 -9.159339953157541e-16" rpy="-1.5707963267948963 -1.570796326794885 0.0" />
    <parent link="lr_ffe" />
    <child link="lr_faa" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="5.0" velocity="42.0" lower="-0.5235987755982988" upper="0.5235987755982988" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LR_FFE" type="revolute">
    <origin xyz="-0.18000000000000177 2.949029909160572e-17 -9.71445146547012e-16" rpy="-2.460560724223056e-15 -2.193746641333228e-15 -2.4980018054056664e-16" />
    <parent link="lr_kfe" />
    <child link="lr_ffe" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="23.0" lower="-0.5235987755982988" upper="0.6981317007977318" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LR_KFE" type="revolute">
    <origin xyz="-0.21999999999999853 7.726458362000699e-15 -0.07419999999999842" rpy="1.276681366670753e-14 1.7506442815481622e-15 -4.718447854657456e-16" />
    <parent link="lr_hfe" />
    <child link="lr_kfe" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="14.0" lower="0.0" upper="2.0943951023931953" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LR_HFE" type="revolute">
    <origin xyz="-1.0130785099704553e-15 -0.01579999999999987 -0.06499999999999871" rpy="-1.5707963267948917 -0.7853981633974505 2.2818401626814027e-14" />
    <parent link="lr_haa" />
    <child link="lr_hfe" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="30.0" velocity="20.0" lower="-1.7453292519943295" upper="0.5235987755982988" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LR_HAA" type="revolute">
    <origin xyz="0.01579999999999647 -2.914335439641036e-16 -0.06499999999999924" rpy="-2.3800406090414427e-15 -1.5707963267948695 0.0" />
    <parent link="lr_hr" />
    <child link="lr_haa" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="23.0" lower="-0.6108652381980153" upper="0.6108652381980153" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="LR_HR" type="revolute">
    <origin xyz="1.1232681451645076e-15 -0.07000000000000058 1.4718781748967988e-15" rpy="1.4130832128180087e-15 0.7853981633974473 -8.326672684498366e-17" />
    <parent link="torso" />
    <child link="lr_hr" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="23.0" lower="-0.6108652381980153" upper="0.6108652381980153" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
