<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 50db2cd8987cf9ab -->
<robot name="g1_29dof">
  <material name="dark">
    <color rgba="0.2 0.2 0.2 1.0" />
  </material>
  <material name="white">
    <color rgba="0.7 0.7 0.7 1.0" />
  </material>
  <link name="pelvis">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/pelvis.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <inertial>
      <origin xyz="0.0 0.0 -0.07605" rpy="0.0 0.0 0.0" />
      <mass value="3.813" />
      <inertia ixx="0.010549" ixy="0.0" ixz="2.1e-06" iyy="0.0093089" iyz="0.0" izz="0.0079184" />
    </inertial>
  </link>
  <link name="pelvis_contour_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/pelvis_contour_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/pelvis_contour_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
    </inertial>
  </link>
  <joint name="pelvis_contour_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="pelvis_contour_link" />
  </joint>
  <link name="left_hip_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002741 0.047791 -0.02606" rpy="0.0 0.0 0.0" />
      <mass value="1.35" />
      <inertia ixx="0.001811" ixy="3.68e-05" ixz="-3.44e-05" iyy="0.0014193" iyz="0.000171" izz="0.0012812" />
    </inertial>
  </link>
  <joint name="left_hip_pitch_joint" type="revolute">
    <origin xyz="0.0 0.064452 -0.1027" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="left_hip_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="88.0" velocity="32.0" lower="-2.5307" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_hip_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.029812 -0.001045 -0.087934" rpy="0.0 0.0 0.0" />
      <mass value="1.52" />
      <inertia ixx="0.0023773" ixy="-3.8e-06" ixz="-0.0003908" iyy="0.0024123" iyz="1.84e-05" izz="0.0016595" />
    </inertial>
  </link>
  <joint name="left_hip_roll_joint" type="revolute">
    <origin xyz="0.0 0.052 -0.030465" rpy="0.0 -0.1749 0.0" />
    <parent link="left_hip_pitch_link" />
    <child link="left_hip_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="88.0" velocity="32.0" lower="-0.5236" upper="2.9671" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_hip_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.057709 -0.010981 -0.15078" rpy="0.0 0.0 0.0" />
      <mass value="1.702" />
      <inertia ixx="0.0057774" ixy="-0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="-0.0007072" izz="0.003149" />
    </inertial>
  </link>
  <joint name="left_hip_yaw_joint" type="revolute">
    <origin xyz="0.025001 0.0 -0.12412" rpy="0.0 0.0 0.0" />
    <parent link="left_hip_roll_link" />
    <child link="left_hip_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="88.0" velocity="32.0" lower="-2.7576" upper="2.7576" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_knee_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_knee_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_knee_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.005457 0.003964 -0.12074" rpy="0.0 0.0 0.0" />
      <mass value="1.932" />
      <inertia ixx="0.011329" ixy="4.82e-05" ixz="-4.49e-05" iyy="0.011277" iyz="-0.0007146" izz="0.0015168" />
    </inertial>
  </link>
  <joint name="left_knee_joint" type="revolute">
    <origin xyz="-0.078273 0.0021489 -0.17734" rpy="0.0 0.1749 0.0" />
    <parent link="left_hip_yaw_link" />
    <child link="left_knee_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="139.0" velocity="20.0" lower="-0.087267" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_ankle_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.007269 0.0 0.011137" rpy="0.0 0.0 0.0" />
      <mass value="0.074" />
      <inertia ixx="8.4e-06" ixy="0.0" ixz="-2.9e-06" iyy="1.89e-05" iyz="0.0" izz="1.26e-05" />
    </inertial>
  </link>
  <joint name="left_ankle_pitch_joint" type="revolute">
    <origin xyz="0.0 -9.4445e-05 -0.30001" rpy="0.0 0.0 0.0" />
    <parent link="left_knee_link" />
    <child link="left_ankle_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.0" velocity="30.0" lower="-0.87267" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_ankle_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_ankle_roll_link.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <collision>
      <origin xyz="-0.05 0.025 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.05 -0.025 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 0.03 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 -0.03 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.026505 0.0 -0.016425" rpy="0.0 0.0 0.0" />
      <mass value="0.608" />
      <inertia ixx="0.0002231" ixy="2e-07" ixz="8.91e-05" iyy="0.0016161" iyz="-1e-07" izz="0.0016667" />
    </inertial>
  </link>
  <joint name="left_ankle_roll_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.017558" rpy="0.0 0.0 0.0" />
    <parent link="left_ankle_pitch_link" />
    <child link="left_ankle_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="30.0" lower="-0.2618" upper="0.2618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_hip_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002741 -0.047791 -0.02606" rpy="0.0 0.0 0.0" />
      <mass value="1.35" />
      <inertia ixx="0.001811" ixy="-3.68e-05" ixz="-3.44e-05" iyy="0.0014193" iyz="-0.000171" izz="0.0012812" />
    </inertial>
  </link>
  <joint name="right_hip_pitch_joint" type="revolute">
    <origin xyz="0.0 -0.064452 -0.1027" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="right_hip_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="88.0" velocity="32.0" lower="-2.5307" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_hip_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.029812 0.001045 -0.087934" rpy="0.0 0.0 0.0" />
      <mass value="1.52" />
      <inertia ixx="0.0023773" ixy="3.8e-06" ixz="-0.0003908" iyy="0.0024123" iyz="-1.84e-05" izz="0.0016595" />
    </inertial>
  </link>
  <joint name="right_hip_roll_joint" type="revolute">
    <origin xyz="0.0 -0.052 -0.030465" rpy="0.0 -0.1749 0.0" />
    <parent link="right_hip_pitch_link" />
    <child link="right_hip_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="88.0" velocity="32.0" lower="-2.9671" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_hip_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.057709 0.010981 -0.15078" rpy="0.0 0.0 0.0" />
      <mass value="1.702" />
      <inertia ixx="0.0057774" ixy="0.0005411" ixz="-0.0023948" iyy="0.0076124" iyz="0.0007072" izz="0.003149" />
    </inertial>
  </link>
  <joint name="right_hip_yaw_joint" type="revolute">
    <origin xyz="0.025001 0.0 -0.12412" rpy="0.0 0.0 0.0" />
    <parent link="right_hip_roll_link" />
    <child link="right_hip_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="88.0" velocity="32.0" lower="-2.7576" upper="2.7576" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_knee_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_knee_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_knee_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.005457 -0.003964 -0.12074" rpy="0.0 0.0 0.0" />
      <mass value="1.932" />
      <inertia ixx="0.011329" ixy="-4.82e-05" ixz="4.49e-05" iyy="0.011277" iyz="0.0007146" izz="0.0015168" />
    </inertial>
  </link>
  <joint name="right_knee_joint" type="revolute">
    <origin xyz="-0.078273 -0.0021489 -0.17734" rpy="0.0 0.1749 0.0" />
    <parent link="right_hip_yaw_link" />
    <child link="right_knee_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="139.0" velocity="20.0" lower="-0.087267" upper="2.8798" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_ankle_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.007269 0.0 0.011137" rpy="0.0 0.0 0.0" />
      <mass value="0.074" />
      <inertia ixx="8.4e-06" ixy="0.0" ixz="-2.9e-06" iyy="1.89e-05" iyz="0.0" izz="1.26e-05" />
    </inertial>
  </link>
  <joint name="right_ankle_pitch_joint" type="revolute">
    <origin xyz="0.0 9.4445e-05 -0.30001" rpy="0.0 0.0 0.0" />
    <parent link="right_knee_link" />
    <child link="right_ankle_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.0" velocity="30.0" lower="-0.87267" upper="0.5236" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_ankle_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_ankle_roll_link.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <collision>
      <origin xyz="-0.05 0.025 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.05 -0.025 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 0.03 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.12 -0.03 -0.03" rpy="0.0 0.0 0.0" />
      <geometry>
        <sphere radius="0.005" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.026505 0.0 -0.016425" rpy="0.0 0.0 0.0" />
      <mass value="0.608" />
      <inertia ixx="0.0002231" ixy="-2e-07" ixz="8.91e-05" iyy="0.0016161" iyz="1e-07" izz="0.0016667" />
    </inertial>
  </link>
  <joint name="right_ankle_roll_joint" type="revolute">
    <origin xyz="0.0 0.0 -0.017558" rpy="0.0 0.0 0.0" />
    <parent link="right_ankle_pitch_link" />
    <child link="right_ankle_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="30.0" lower="-0.2618" upper="0.2618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="waist_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <inertial>
      <origin xyz="0.003964 0.0 0.018769" rpy="0.0 0.0 0.0" />
      <mass value="0.244" />
      <inertia ixx="9.9587e-05" ixy="-1.833e-06" ixz="-1.2617e-05" iyy="0.00012411" iyz="-1.18e-07" izz="0.00015586" />
    </inertial>
  </link>
  <joint name="waist_yaw_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="waist_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="88.0" velocity="32.0" lower="-2.618" upper="2.618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="waist_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <inertial>
      <origin xyz="0.0 -0.000236 0.010111" rpy="0.0 0.0 0.0" />
      <mass value="0.047" />
      <inertia ixx="7.515e-06" ixy="0.0" ixz="0.0" iyy="6.398e-06" iyz="9.9e-08" izz="3.988e-06" />
    </inertial>
  </link>
  <joint name="waist_roll_joint" type="revolute">
    <origin xyz="-0.0039635 0.0 0.035" rpy="0.0 0.0 0.0" />
    <parent link="waist_yaw_link" />
    <child link="waist_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="35.0" velocity="30.0" lower="-0.52" upper="0.52" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="torso_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/torso_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/torso_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002601 0.000257 0.153719" rpy="0.0 0.0 0.0" />
      <mass value="8.562" />
      <inertia ixx="0.065674966" ixy="-8.597e-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899e-05" izz="0.030808125" />
    </inertial>
  </link>
  <joint name="waist_pitch_joint" type="revolute">
    <origin xyz="0.0 0.0 0.019" rpy="0.0 0.0 0.0" />
    <parent link="waist_roll_link" />
    <child link="torso_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="35.0" velocity="30.0" lower="-0.52" upper="0.52" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="logo_joint" type="fixed">
    <origin xyz="0.0039635 0.0 -0.054" rpy="0.0 0.0 0.0" />
    <parent link="torso_link" />
    <child link="logo_link" />
  </joint>
  <link name="logo_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/logo_link.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/logo_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
    </inertial>
  </link>
  <link name="head_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/head_link.STL" />
      </geometry>
      <material name="dark" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/head_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.005267 0.000299 0.449869" rpy="0.0 0.0 0.0" />
      <mass value="1.036" />
      <inertia ixx="0.004085051" ixy="-2.543e-06" ixz="-6.9455e-05" iyy="0.004185212" iyz="-3.726e-06" izz="0.001807911" />
    </inertial>
  </link>
  <joint name="head_joint" type="fixed">
    <origin xyz="0.0039635 0.0 -0.054" rpy="0.0 0.0 0.0" />
    <parent link="torso_link" />
    <child link="head_link" />
  </joint>
  <link name="waist_support_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_support_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/waist_support_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.001" />
      <inertia ixx="1e-07" ixy="0.0" ixz="0.0" iyy="1e-07" iyz="0.0" izz="1e-07" />
    </inertial>
  </link>
  <joint name="waist_support_joint" type="fixed">
    <origin xyz="0.0039635 0.0 -0.054" rpy="0.0 0.0 0.0" />
    <parent link="torso_link" />
    <child link="waist_support_link" />
  </joint>
  <link name="imu_in_torso" />
  <joint name="imu_in_torso_joint" type="fixed">
    <origin xyz="-0.03959 -0.00224 0.13792" rpy="0.0 0.0 0.0" />
    <parent link="torso_link" />
    <child link="imu_in_torso" />
  </joint>
  <link name="imu_in_pelvis" />
  <joint name="imu_in_pelvis_joint" type="fixed">
    <origin xyz="0.04525 0.0 -0.08339" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="imu_in_pelvis" />
  </joint>
  <link name="d435_link" />
  <joint name="d435_joint" type="fixed">
    <origin xyz="0.0576235 0.01753 0.41987" rpy="0.0 0.8307767239493009 0.0" />
    <parent link="torso_link" />
    <child link="d435_link" />
  </joint>
  <link name="mid360_link" />
  <joint name="mid360_joint" type="fixed">
    <origin xyz="0.0002835 3e-05 0.40618" rpy="0.0 0.04014257279586953 0.0" />
    <parent link="torso_link" />
    <child link="mid360_link" />
  </joint>
  <link name="left_shoulder_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.04 -0.01" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.035892 -0.011628" rpy="0.0 0.0 0.0" />
      <mass value="0.718" />
      <inertia ixx="0.0004291" ixy="-9.2e-06" ixz="6.4e-06" iyy="0.000453" iyz="2.26e-05" izz="0.000423" />
    </inertial>
  </link>
  <joint name="left_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949e-05 -0.00019159" />
    <parent link="torso_link" />
    <child link="left_shoulder_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-3.0892" upper="2.6704" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_shoulder_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="-0.004 0.006 -0.053" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.000227 0.00727 -0.063243" rpy="0.0 0.0 0.0" />
      <mass value="0.643" />
      <inertia ixx="0.0006177" ixy="-1e-06" ixz="8.7e-06" iyy="0.0006912" iyz="-5.3e-06" izz="0.0003894" />
    </inertial>
  </link>
  <joint name="left_shoulder_roll_joint" type="revolute">
    <origin xyz="0.0 0.038 -0.013831" rpy="-0.27925 0.0 0.0" />
    <parent link="left_shoulder_pitch_link" />
    <child link="left_shoulder_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-1.5882" upper="2.2515" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_shoulder_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.010773 -0.002949 -0.072009" rpy="0.0 0.0 0.0" />
      <mass value="0.734" />
      <inertia ixx="0.0009988" ixy="7.9e-06" ixz="0.0001412" iyy="0.0010605" iyz="-2.86e-05" izz="0.0004354" />
    </inertial>
  </link>
  <joint name="left_shoulder_yaw_joint" type="revolute">
    <origin xyz="0.0 0.00624 -0.1032" rpy="0.0 0.0 0.0" />
    <parent link="left_shoulder_roll_link" />
    <child link="left_shoulder_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="25.0" velocity="37.0" lower="-2.618" upper="2.618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_elbow_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.064956 0.004454 -0.010062" rpy="0.0 0.0 0.0" />
      <mass value="0.6" />
      <inertia ixx="0.0002891" ixy="6.53e-05" ixz="1.72e-05" iyy="0.0004152" iyz="-5.6e-06" izz="0.0004197" />
    </inertial>
  </link>
  <joint name="left_elbow_joint" type="revolute">
    <origin xyz="0.015783 0.0 -0.080518" rpy="0.0 0.0 0.0" />
    <parent link="left_shoulder_yaw_link" />
    <child link="left_elbow_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-1.0472" upper="2.0944" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="left_wrist_roll_joint" type="revolute">
    <origin xyz="0.1 0.00188791 -0.01" rpy="0.0 0.0 0.0" />
    <parent link="left_elbow_link" />
    <child link="left_wrist_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-1.972222054" upper="1.972222054" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_wrist_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_wrist_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_wrist_roll_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01713944778 0.00053759094 4.8864e-07" rpy="0.0 0.0 0.0" />
      <mass value="0.08544498" />
      <inertia ixx="4.821544023e-05" ixy="-4.24511021e-06" ixz="5.10599e-09" iyy="3.722899093e-05" iyz="-1.23525e-09" izz="5.482106541e-05" />
    </inertial>
  </link>
  <joint name="left_wrist_pitch_joint" type="revolute">
    <origin xyz="0.038 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="left_wrist_roll_link" />
    <child link="left_wrist_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_wrist_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_wrist_pitch_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_wrist_pitch_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02299989837 -0.00111685314 -0.00111658096" rpy="0.0 0.0 0.0" />
      <mass value="0.48404956" />
      <inertia ixx="0.00016579646273" ixy="-1.231206746e-05" ixz="1.231699194e-05" iyy="0.0004295405741" iyz="8.1417712e-07" izz="0.00042953697654" />
    </inertial>
  </link>
  <joint name="left_wrist_yaw_joint" type="revolute">
    <origin xyz="0.046 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="left_wrist_pitch_link" />
    <child link="left_wrist_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="left_wrist_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_wrist_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_wrist_yaw_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02200381568 0.00049485096 0.00053861123" rpy="0.0 0.0 0.0" />
      <mass value="0.08457647" />
      <inertia ixx="4.929128828e-05" ixy="-4.5735494e-07" ixz="4.45867591e-06" iyy="5.973338134e-05" iyz="4.3217198e-07" izz="3.928083826e-05" />
    </inertial>
  </link>
  <joint name="left_hand_palm_joint" type="fixed">
    <origin xyz="0.0415 0.003 0.0" rpy="0.0 0.0 0.0" />
    <parent link="left_wrist_yaw_link" />
    <child link="left_rubber_hand" />
  </joint>
  <link name="left_rubber_hand">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/left_rubber_hand.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <inertial>
      <origin xyz="0.05361310808 -0.0029590524 0.00215413091" rpy="0.0 0.0 0.0" />
      <mass value="0.17" />
      <inertia ixx="0.00010099485234748" ixy="3.618590790516e-05" ixz="-7.4301518642e-07" iyy="0.00028135871571621" iyz="3.30189743286e-06" izz="0.00021894770413514" />
    </inertial>
  </link>
  <link name="right_shoulder_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 -0.04 -0.01" rpy="0.0 1.5707963267948966 0.0" />
      <geometry>
        <cylinder length="0.05" radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.035892 -0.011628" rpy="0.0 0.0 0.0" />
      <mass value="0.718" />
      <inertia ixx="0.0004291" ixy="9.2e-06" ixz="6.4e-06" iyy="0.000453" iyz="-2.26e-05" izz="0.000423" />
    </inertial>
  </link>
  <joint name="right_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949e-05 0.00019159" />
    <parent link="torso_link" />
    <child link="right_shoulder_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-3.0892" upper="2.6704" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_shoulder_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="-0.004 -0.006 -0.053" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.03" radius="0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.000227 -0.00727 -0.063243" rpy="0.0 0.0 0.0" />
      <mass value="0.643" />
      <inertia ixx="0.0006177" ixy="1e-06" ixz="8.7e-06" iyy="0.0006912" iyz="5.3e-06" izz="0.0003894" />
    </inertial>
  </link>
  <joint name="right_shoulder_roll_joint" type="revolute">
    <origin xyz="0.0 -0.038 -0.013831" rpy="0.27925 0.0 0.0" />
    <parent link="right_shoulder_pitch_link" />
    <child link="right_shoulder_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-2.2515" upper="1.5882" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_shoulder_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.010773 0.002949 -0.072009" rpy="0.0 0.0 0.0" />
      <mass value="0.734" />
      <inertia ixx="0.0009988" ixy="-7.9e-06" ixz="0.0001412" iyy="0.0010605" iyz="2.86e-05" izz="0.0004354" />
    </inertial>
  </link>
  <joint name="right_shoulder_yaw_joint" type="revolute">
    <origin xyz="0.0 -0.00624 -0.1032" rpy="0.0 0.0 0.0" />
    <parent link="right_shoulder_roll_link" />
    <child link="right_shoulder_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="25.0" velocity="37.0" lower="-2.618" upper="2.618" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_elbow_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.064956 -0.004454 -0.010062" rpy="0.0 0.0 0.0" />
      <mass value="0.6" />
      <inertia ixx="0.0002891" ixy="-6.53e-05" ixz="1.72e-05" iyy="0.0004152" iyz="5.6e-06" izz="0.0004197" />
    </inertial>
  </link>
  <joint name="right_elbow_joint" type="revolute">
    <origin xyz="0.015783 0.0 -0.080518" rpy="0.0 0.0 0.0" />
    <parent link="right_shoulder_yaw_link" />
    <child link="right_elbow_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-1.0472" upper="2.0944" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="right_wrist_roll_joint" type="revolute">
    <origin xyz="0.1 -0.00188791 -0.01" rpy="0.0 0.0 0.0" />
    <parent link="right_elbow_link" />
    <child link="right_wrist_roll_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="25.0" velocity="37.0" lower="-1.972222054" upper="1.972222054" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_wrist_roll_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_wrist_roll_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_wrist_roll_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.01713944778 -0.00053759094 4.8864e-07" rpy="0.0 0.0 0.0" />
      <mass value="0.08544498" />
      <inertia ixx="4.821544023e-05" ixy="4.24511021e-06" ixz="5.10599e-09" iyy="3.722899093e-05" iyz="1.23525e-09" izz="5.482106541e-05" />
    </inertial>
  </link>
  <joint name="right_wrist_pitch_joint" type="revolute">
    <origin xyz="0.038 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="right_wrist_roll_link" />
    <child link="right_wrist_pitch_link" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_wrist_pitch_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_wrist_pitch_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_wrist_pitch_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02299989837 0.00111685314 -0.00111658096" rpy="0.0 0.0 0.0" />
      <mass value="0.48404956" />
      <inertia ixx="0.00016579646273" ixy="1.231206746e-05" ixz="1.231699194e-05" iyy="0.0004295405741" iyz="-8.1417712e-07" izz="0.00042953697654" />
    </inertial>
  </link>
  <joint name="right_wrist_yaw_joint" type="revolute">
    <origin xyz="0.046 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="right_wrist_pitch_link" />
    <child link="right_wrist_yaw_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="5.0" velocity="22.0" lower="-1.614429558" upper="1.614429558" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="right_wrist_yaw_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_wrist_yaw_link.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_wrist_yaw_link.STL" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02200381568 -0.00049485096 0.00053861123" rpy="0.0 0.0 0.0" />
      <mass value="0.08457647" />
      <inertia ixx="4.929128828e-05" ixy="4.5735494e-07" ixz="4.45867591e-06" iyy="5.973338134e-05" iyz="-4.3217198e-07" izz="3.928083826e-05" />
    </inertial>
  </link>
  <joint name="right_hand_palm_joint" type="fixed">
    <origin xyz="0.0415 -0.003 0.0" rpy="0.0 0.0 0.0" />
    <parent link="right_wrist_yaw_link" />
    <child link="right_rubber_hand" />
  </joint>
  <link name="right_rubber_hand">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="meshes/right_rubber_hand.STL" />
      </geometry>
      <material name="white" />
    </visual>
    <inertial>
      <origin xyz="0.05361310808 0.0029590524 0.00215413091" rpy="0.0 0.0 0.0" />
      <mass value="0.17" />
      <inertia ixx="0.00010099485234748" ixy="-3.618590790516e-05" ixz="-7.4301518642e-07" iyy="0.00028135871571621" iyz="-3.30189743286e-06" izz="0.00021894770413514" />
    </inertial>
  </link>
</robot>
