<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content b84de32ba28f2368 -->
<robot name="NextageOpen">
  <link name="WAIST">
    <visual>
      <origin xyz="0.0 0.0 0.97" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/WAIST_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.97" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/WAIST_Link_mesh.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <mass value="1000.0" />
      <inertia ixx="20.0" ixy="0.0" ixz="0.0" iyy="20.0" iyz="0.0" izz="20.0" />
    </inertial>
  </link>
  <link name="CHEST_JOINT0_Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/CHEST_JOINT0_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/CHEST_JOINT0_Link_mesh.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <mass value="3.0" />
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    </inertial>
  </link>
  <link name="HEAD_JOINT0_Link">
    <visual>
      <origin xyz="0.0 0.0 0.5695" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT0_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.5695" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT0_Link_mesh.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-2.292e-05 0.00547848 -0.00784016" rpy="0.0 -0.0 0.0" />
      <mass value="0.317929" />
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    </inertial>
  </link>
  <link name="HEAD_JOINT1_Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT1_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/HEAD_JOINT1_Link_mesh.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" />
      <mass value="0.0808593" />
      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
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  </link>
  <link name="LARM_JOINT0_Link">
    <visual>
      <origin xyz="0.0 0.145 0.370296" rpy="-0.261799 0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT0_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.145 0.370296" rpy="-0.261799 0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT0_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-0.00226388 -0.00521383 0.0156081" rpy="0.0 -0.0 0.0" />
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  </link>
  <link name="LARM_JOINT1_Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT1_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT1_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-5.236e-05 0.0583134 -0.107061" rpy="0.0 -0.0 0.0" />
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  </link>
  <link name="LARM_JOINT2_Link">
    <visual>
      <origin xyz="0.0 0.095 -0.25" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT2_Link_mesh.dae" />
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    </visual>
    <collision>
      <origin xyz="0.0 0.095 -0.25" rpy="0.0 -0.0 0.0" />
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        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT2_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-2.254e-05 0.00167107 -0.0715116" rpy="0.0 -0.0 0.0" />
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  <link name="LARM_JOINT3_Link">
    <visual>
      <origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT3_Link_mesh.dae" />
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    </visual>
    <collision>
      <origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
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        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT3_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-1.788e-05 -0.00395812 -0.20273" rpy="0.0 -0.0 0.0" />
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    </inertial>
  </link>
  <link name="LARM_JOINT4_Link">
    <visual>
      <origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT4_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT4_Link_mesh.dae" />
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    <inertial>
      <origin xyz="0.00243131 0.00379733 -0.0577036" rpy="0.0 -0.0 0.0" />
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  </link>
  <link name="LARM_JOINT5_Link">
    <visual>
      <origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT5_Link_mesh.dae" />
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    </visual>
    <collision>
      <origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/LARM_JOINT5_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-0.048476 -3.2e-06 -0.0388988" rpy="0.0 -0.0 0.0" />
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  </link>
  <link name="RARM_JOINT0_Link">
    <visual>
      <origin xyz="0.0 -0.145 0.370296" rpy="0.261799 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT0_Link_mesh.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.145 0.370296" rpy="0.261799 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT0_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-0.00226388 0.00521383 0.0156081" rpy="0.0 -0.0 0.0" />
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  </link>
  <link name="RARM_JOINT1_Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT1_Link_mesh.dae" />
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    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
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        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT1_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-5.236e-05 -0.0583134 -0.107061" rpy="0.0 -0.0 0.0" />
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  <link name="RARM_JOINT2_Link">
    <visual>
      <origin xyz="0.0 -0.095 -0.25" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT2_Link_mesh.dae" />
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    </visual>
    <collision>
      <origin xyz="0.0 -0.095 -0.25" rpy="0.0 -0.0 0.0" />
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        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT2_Link_mesh.dae" />
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    <inertial>
      <origin xyz="-2.254e-05 -0.00167107 -0.0715116" rpy="0.0 -0.0 0.0" />
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  </link>
  <link name="RARM_JOINT3_Link">
    <visual>
      <origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT3_Link_mesh.dae" />
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    <collision>
      <origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
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  <link name="RARM_JOINT4_Link">
    <visual>
      <origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT4_Link_mesh.dae" />
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    <collision>
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  <link name="RARM_JOINT5_Link">
    <visual>
      <origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
      <geometry>
        <mesh filename="package://nextage_description/urdf/meshes/RARM_JOINT5_Link_mesh.dae" />
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  </link>
  <joint name="CHEST_JOINT0" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
    <parent link="WAIST" />
    <child link="CHEST_JOINT0_Link" />
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  <joint name="HEAD_JOINT0" type="revolute">
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  <joint name="HEAD_JOINT1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
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  <joint name="LARM_JOINT0" type="revolute">
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  <joint name="LARM_JOINT1" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 0.0" />
    <parent link="LARM_JOINT0_Link" />
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  <joint name="LARM_JOINT2" type="revolute">
    <origin xyz="0.0 0.095 -0.25" rpy="0.0 -0.0 0.0" />
    <parent link="LARM_JOINT1_Link" />
    <child link="LARM_JOINT2_Link" />
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  <joint name="LARM_JOINT3" type="revolute">
    <origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
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    <child link="LARM_JOINT3_Link" />
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    <limit effort="100.0" velocity="0.5" lower="-1.8326" upper="2.87979" />
    <dynamics damping="0.2" friction="0.0" />
  </joint>
  <joint name="LARM_JOINT4" type="revolute">
    <origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
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    <child link="LARM_JOINT4_Link" />
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    <dynamics damping="0.2" friction="0.0" />
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  <joint name="LARM_JOINT5" type="revolute">
    <origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
    <parent link="LARM_JOINT4_Link" />
    <child link="LARM_JOINT5_Link" />
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    <dynamics damping="0.2" friction="0.0" />
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  <joint name="RARM_JOINT0" type="revolute">
    <origin xyz="0.0 -0.145 0.370296" rpy="0.261799 -0.0 0.0" />
    <parent link="CHEST_JOINT0_Link" />
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  <joint name="RARM_JOINT1" type="revolute">
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  <joint name="RARM_JOINT2" type="revolute">
    <origin xyz="0.0 -0.095 -0.25" rpy="0.0 -0.0 0.0" />
    <parent link="RARM_JOINT1_Link" />
    <child link="RARM_JOINT2_Link" />
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    <limit effort="100.0" velocity="0.5" lower="-2.75762" upper="0.0" />
    <dynamics damping="0.2" friction="0.0" />
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  <joint name="RARM_JOINT3" type="revolute">
    <origin xyz="-0.03 0.0 0.0" rpy="0.0 -0.0 0.0" />
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    <dynamics damping="0.2" friction="0.0" />
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  <joint name="RARM_JOINT4" type="revolute">
    <origin xyz="0.0 0.0 -0.235" rpy="0.0 -0.0 0.0" />
    <parent link="RARM_JOINT3_Link" />
    <child link="RARM_JOINT4_Link" />
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    <limit effort="100.0" velocity="0.5" lower="-1.74533" upper="1.74533" />
    <dynamics damping="0.2" friction="0.0" />
  </joint>
  <joint name="RARM_JOINT5" type="revolute">
    <origin xyz="-0.047 0.0 -0.09" rpy="0.0 -0.0 0.0" />
    <parent link="RARM_JOINT4_Link" />
    <child link="RARM_JOINT5_Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="100.0" velocity="0.5" lower="-2.84489" upper="2.84489" />
    <dynamics damping="0.2" friction="0.0" />
  </joint>
</robot>
