<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content a34003a966ebb2ab -->
<robot name="elf2_dof25">
  <link name="base_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/base_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00030047 8.28e-06 0.03546793" rpy="0.0 0.0 0.0" />
      <mass value="3.24038695" />
      <inertia ixx="0.02280423" ixy="3.8e-07" ixz="-1.083e-05" iyy="0.00335281" iyz="1.75e-06" izz="0.02410611" />
    </inertial>
  </link>
  <link name="l_hip_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_hip_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_hip_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0951743 -0.00029544 0.01157699" rpy="0.0 0.0 0.0" />
      <mass value="1.26002534" />
      <inertia ixx="0.00250858" ixy="-1.87e-05" ixz="-0.00093719" iyy="0.00299504" iyz="6.14e-06" izz="0.00188897" />
    </inertial>
  </link>
  <joint name="l_hip_z_joint" type="revolute">
    <origin xyz="0.0 0.1 -0.1008" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="l_hip_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="20.0" lower="-0.785" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_hip_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_hip_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_hip_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00349545 -0.05016077 0.00015601" rpy="0.0 0.0 0.0" />
      <mass value="1.75826055" />
      <inertia ixx="0.00145734" ixy="0.000276" ixz="2.571e-05" iyy="0.00183603" iyz="-4e-08" izz="0.00181117" />
    </inertial>
  </link>
  <joint name="l_hip_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_hip_z_link" />
    <child link="l_hip_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="40.0" velocity="20.0" lower="-0.523" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_hip_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_hip_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_hip_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00237237 0.02408075 -0.04874487" rpy="0.0 0.0 0.0" />
      <mass value="2.66296335" />
      <inertia ixx="0.02678784" ixy="0.00016594" ixz="0.00075939" iyy="0.02619934" iyz="-0.00371457" izz="0.0045187" />
    </inertial>
  </link>
  <joint name="l_hip_y_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_hip_x_link" />
    <child link="l_hip_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="100.0" velocity="20.0" lower="-2.0" upper="1.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_knee_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_knee_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_knee_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00711393 -0.00031499 -0.10977806" rpy="0.0 0.0 0.0" />
      <mass value="1.63072153" />
      <inertia ixx="0.01042782" ixy="1.62e-06" ixz="-0.00054999" iyy="0.01018545" iyz="-0.00015956" izz="0.00140744" />
    </inertial>
  </link>
  <joint name="l_knee_y_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
    <parent link="l_hip_y_link" />
    <child link="l_knee_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="120.0" velocity="20.0" lower="0.0" upper="2.355" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_ankle_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_ankle_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_ankle_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.00046563" rpy="0.0 0.0 0.0" />
      <mass value="0.01206963" />
      <inertia ixx="2.89e-06" ixy="-0.0" ixz="-0.0" iyy="3.4e-07" iyz="-0.0" izz="3.01e-06" />
    </inertial>
  </link>
  <joint name="l_ankle_y_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
    <parent link="l_knee_y_link" />
    <child link="l_ankle_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="12.0" velocity="20.0" lower="-2.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_ankle_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_ankle_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_ankle_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00088171 0.0 -0.02245193" rpy="0.0 0.0 0.0" />
      <mass value="0.27064154" />
      <inertia ixx="0.00014549" ixy="-0.0" ixz="5.53e-06" iyy="0.00071745" iyz="-0.0" izz="0.00081666" />
    </inertial>
  </link>
  <joint name="l_ankle_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_ankle_y_link" />
    <child link="l_ankle_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="6.0" velocity="20.0" lower="-0.349" upper="0.349" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_hip_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_hip_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_hip_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.0951743 0.00029543 0.01157699" rpy="0.0 0.0 0.0" />
      <mass value="1.26002506" />
      <inertia ixx="0.00250858" ixy="1.87e-05" ixz="-0.00093719" iyy="0.00299504" iyz="-6.14e-06" izz="0.00188897" />
    </inertial>
  </link>
  <joint name="r_hip_z_joint" type="revolute">
    <origin xyz="0.0 -0.1 -0.1008" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="r_hip_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="20.0" velocity="20.0" lower="-0.785" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_hip_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_hip_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_hip_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00349545 0.05016077 0.000156" rpy="0.0 0.0 0.0" />
      <mass value="1.75825984" />
      <inertia ixx="0.00145734" ixy="-0.000276" ixz="2.571e-05" iyy="0.00183603" iyz="4e-08" izz="0.00181117" />
    </inertial>
  </link>
  <joint name="r_hip_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_hip_z_link" />
    <child link="r_hip_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="40.0" velocity="20.0" lower="-0.785" upper="0.523" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_hip_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_hip_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_hip_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00237237 -0.02408076 -0.04874488" rpy="0.0 0.0 0.0" />
      <mass value="2.66296401" />
      <inertia ixx="0.02678786" ixy="-0.00016594" ixz="0.00075939" iyy="0.02619935" iyz="0.00371458" izz="0.0045187" />
    </inertial>
  </link>
  <joint name="r_hip_y_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_hip_x_link" />
    <child link="r_hip_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="100.0" velocity="20.0" lower="-2.0" upper="1.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_knee_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_knee_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_knee_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00711396 0.00031502 -0.109778" rpy="0.0 0.0 0.0" />
      <mass value="1.63072158" />
      <inertia ixx="0.01042781" ixy="-1.62e-06" ixz="-0.00054998" iyy="0.01018544" iyz="0.00015955" izz="0.00140744" />
    </inertial>
  </link>
  <joint name="r_knee_y_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
    <parent link="r_hip_y_link" />
    <child link="r_knee_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="120.0" velocity="20.0" lower="0.0" upper="2.355" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_ankle_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_ankle_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_ankle_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.00046563" rpy="0.0 0.0 0.0" />
      <mass value="0.01206963" />
      <inertia ixx="2.89e-06" ixy="-0.0" ixz="-0.0" iyy="3.4e-07" iyz="-0.0" izz="3.01e-06" />
    </inertial>
  </link>
  <joint name="r_ankle_y_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.3" rpy="0.0 0.0 0.0" />
    <parent link="r_knee_y_link" />
    <child link="r_ankle_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="12.0" velocity="20.0" lower="-2.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_ankle_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_ankle_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_ankle_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00088171 0.0 -0.02245193" rpy="0.0 0.0 0.0" />
      <mass value="0.27064154" />
      <inertia ixx="0.00014549" ixy="-0.0" ixz="5.53e-06" iyy="0.00071745" iyz="-0.0" izz="0.00081666" />
    </inertial>
  </link>
  <joint name="r_ankle_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_ankle_y_link" />
    <child link="r_ankle_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="6.0" velocity="20.0" lower="-0.349" upper="0.349" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="waist_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00448944 0.0 -0.02389195" rpy="0.0 0.0 0.0" />
      <mass value="0.21792014" />
      <inertia ixx="9.089e-05" ixy="-0.0" ixz="3.456e-05" iyy="0.0001491" iyz="-0.0" izz="0.00013001" />
    </inertial>
  </link>
  <joint name="waist_z_joint" type="revolute">
    <origin xyz="0.0 0.0 0.1167" rpy="0.0 0.0 0.0" />
    <parent link="base_link" />
    <child link="waist_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="40.0" velocity="20.0" lower="-1.57" upper="1.57" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="waist_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.05316739" />
      <inertia ixx="9.7e-06" ixy="-0.0" ixz="-0.0" iyy="9.7e-06" iyz="-0.0" izz="1.819e-05" />
    </inertial>
  </link>
  <joint name="waist_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="waist_z_link" />
    <child link="waist_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="50.0" velocity="20.0" lower="-0.262" upper="0.262" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="waist_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00308477 0.00223688 0.1873963" rpy="0.0 0.0 0.0" />
      <mass value="8.1645757" />
      <inertia ixx="0.12637158" ixy="-0.00018869" ixz="-0.0005031" iyy="0.08145202" iyz="-0.00060193" izz="0.06836301" />
    </inertial>
  </link>
  <joint name="waist_y_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="waist_x_link" />
    <child link="waist_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="50.0" velocity="20.0" lower="-0.523" upper="0.523" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_shld_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_shld_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_shld_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00068297 -0.00449372 2.22e-06" rpy="0.0 0.0 0.0" />
      <mass value="0.53804971" />
      <inertia ixx="0.00030648" ixy="4.03e-06" ixz="2e-08" iyy="0.00029153" iyz="1e-07" izz="0.00032312" />
    </inertial>
  </link>
  <joint name="l_shld_y_joint" type="revolute">
    <origin xyz="0.0 0.21705 0.30075" rpy="0.0 0.0 0.0" />
    <parent link="waist_y_link" />
    <child link="l_shld_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="27.0" velocity="20.0" lower="-2.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_shld_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_shld_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_shld_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-2.047e-05 5.316e-05 -0.06162654" rpy="0.0 0.0 0.0" />
      <mass value="0.48847489" />
      <inertia ixx="0.00027194" ixy="4e-08" ixz="-5.4e-07" iyy="0.00033709" iyz="-5.4e-07" izz="0.0002884" />
    </inertial>
  </link>
  <joint name="l_shld_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_shld_y_link" />
    <child link="l_shld_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="27.0" velocity="20.0" lower="-0.5" upper="1.57" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_shld_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_shld_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_shld_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="4.164e-05 0.00022669 -0.2212782" rpy="0.0 0.0 0.0" />
      <mass value="0.59309528" />
      <inertia ixx="0.00136573" ixy="5.3e-07" ixz="-1e-08" iyy="0.00133989" iyz="1.22e-06" izz="0.00030342" />
    </inertial>
  </link>
  <joint name="l_shld_z_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_shld_x_link" />
    <child link="l_shld_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_elb_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_elb_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_elb_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="5.192e-05 1.999e-05 -0.08561189" rpy="0.0 0.0 0.0" />
      <mass value="0.50005725" />
      <inertia ixx="0.00043713" ixy="-4e-08" ixz="-4.9e-07" iyy="0.00036043" iyz="6.3e-07" izz="0.00030266" />
    </inertial>
  </link>
  <joint name="l_elb_y_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.24" rpy="0.0 0.0 0.0" />
    <parent link="l_shld_z_link" />
    <child link="l_elb_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="27.0" velocity="20.0" lower="-2.355" upper="0.5" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="l_elb_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_elb_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/l_elb_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="1.97e-06 -1.756e-05 -0.18282539" rpy="0.0 0.0 0.0" />
      <mass value="0.13457416" />
      <inertia ixx="0.00040001" ixy="-0.0" ixz="-2e-08" iyy="0.00039996" iyz="1.5e-07" izz="5.662e-05" />
    </inertial>
  </link>
  <joint name="l_elb_z_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="l_elb_y_link" />
    <child link="l_elb_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_shld_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_shld_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_shld_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.00068297 0.00449372 -2.22e-06" rpy="0.0 0.0 0.0" />
      <mass value="0.53804971" />
      <inertia ixx="0.00030648" ixy="-4.03e-06" ixz="-2e-08" iyy="0.00029153" iyz="1e-07" izz="0.00032312" />
    </inertial>
  </link>
  <joint name="r_shld_y_joint" type="revolute">
    <origin xyz="0.0 -0.21705 0.30075" rpy="0.0 0.0 0.0" />
    <parent link="waist_y_link" />
    <child link="r_shld_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="27.0" velocity="20.0" lower="-2.0" upper="2.0" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_shld_x_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_shld_x_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_shld_x_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="2.047e-05 -5.316e-05 -0.06162654" rpy="0.0 0.0 0.0" />
      <mass value="0.48847489" />
      <inertia ixx="0.00027194" ixy="4e-08" ixz="5.4e-07" iyy="0.00033709" iyz="5.4e-07" izz="0.0002884" />
    </inertial>
  </link>
  <joint name="r_shld_x_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_shld_y_link" />
    <child link="r_shld_x_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="27.0" velocity="20.0" lower="-1.57" upper="0.5" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_shld_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_shld_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_shld_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-4.164e-05 -0.00022669 -0.2212782" rpy="0.0 0.0 0.0" />
      <mass value="0.59309528" />
      <inertia ixx="0.00136573" ixy="5.3e-07" ixz="1e-08" iyy="0.00133989" iyz="-1.22e-06" izz="0.00030342" />
    </inertial>
  </link>
  <joint name="r_shld_z_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_shld_x_link" />
    <child link="r_shld_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_elb_y_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_elb_y_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_elb_y_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-5.192e-05 -1.999e-05 -0.08561189" rpy="0.0 0.0 0.0" />
      <mass value="0.50005725" />
      <inertia ixx="0.00043713" ixy="-4e-08" ixz="4.9e-07" iyy="0.00036043" iyz="-6.3e-07" izz="0.00030266" />
    </inertial>
  </link>
  <joint name="r_elb_y_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.24" rpy="0.0 0.0 0.0" />
    <parent link="r_shld_z_link" />
    <child link="r_elb_y_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="27.0" velocity="20.0" lower="-2.355" upper="0.5" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="r_elb_z_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_elb_z_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/r_elb_z_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-1.97e-06 1.756e-05 -0.18282539" rpy="0.0 0.0 0.0" />
      <mass value="0.13457416" />
      <inertia ixx="0.00040001" ixy="-0.0" ixz="2e-08" iyy="0.00039996" iyz="-1.5e-07" izz="5.662e-05" />
    </inertial>
  </link>
  <joint name="r_elb_z_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="r_elb_y_link" />
    <child link="r_elb_z_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="7.0" velocity="20.0" lower="-0.785" upper="0.785" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
</robot>
