<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 47d047bed9a37990 -->
<robot name="valkyrie">
  <link name="head">
    <collision>
      <origin xyz="-0.0503 0.0 -0.00195" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.1311 0.12 0.0591" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="-0.093 0.0 0.0868" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.0468 0.12 0.1184" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.075493 3.3383e-05 0.02774" rpy="0.0 0.0 0.0" />
      <mass value="1.41984" />
      <inertia ixx="0.0039688" ixy="-1.5797e-06" ixz="-0.00089293" iyy="0.0041178" iyz="-6.8415e-07" izz="0.0035243" />
    </inertial>
  </link>
  <link name="hokuyo_link">
    <visual>
      <origin xyz="0.045 -0.0261018277 -0.08342369" rpy="-0.314 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/multisense/head_camera.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.01885 0.0 -0.02119" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.08 0.06 0.04238" />
      </geometry>
    </collision>
    <collision>
      <origin xyz="0.03 0.0 0.0235" rpy="0.0 0.0 0.0" />
      <geometry>
        <cylinder length="0.047" radius="0.024425" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.032428 0.0004084 -0.0041835" rpy="0.0 0.0 0.0" />
      <mass value="0.057654" />
      <inertia ixx="3.7174e-05" ixy="4.9927e-08" ixz="1.1015e-05" iyy="4.2412e-05" iyz="-9.8165e-09" izz="4.167e-05" />
    </inertial>
  </link>
  <joint name="hokuyo_joint" type="continuous">
    <origin xyz="-0.0446 0.0 0.088" rpy="0.0 0.0 0.0" />
    <parent link="head" />
    <child link="hokuyo_link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="0.0" velocity="0.0" />
    <dynamics damping="0.01" friction="0.0" />
  </joint>
  <joint name="head_hokuyo_joint" type="fixed">
    <origin xyz="0.03 0.0 0.015" rpy="0.0 0.0 0.0" />
    <parent link="hokuyo_link" />
    <child link="head_hokuyo_frame" />
  </joint>
  <link name="head_hokuyo_frame">
    <inertial>
      <origin xyz="0.042428 0.0004084 0.0108165" rpy="0.0 0.0 0.0" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="left_camera_frame_joint" type="fixed">
    <origin xyz="0.0 0.035 -0.002" rpy="0.0 0.0 0.0" />
    <parent link="head" />
    <child link="left_camera_frame" />
  </joint>
  <link name="left_camera_frame">
    <inertial>
      <origin xyz="-0.075493 0.035033383 0.02574" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="left_camera_optical_frame_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
    <parent link="left_camera_frame" />
    <child link="left_camera_optical_frame" />
  </joint>
  <link name="left_camera_optical_frame" />
  <joint name="right_camera_frame_joint" type="fixed">
    <origin xyz="0.0 -0.035 -0.002" rpy="0.0 0.0 0.0" />
    <parent link="head" />
    <child link="right_camera_frame" />
  </joint>
  <link name="right_camera_frame">
    <inertial>
      <origin xyz="-0.075493 -0.034966617 0.02574" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="right_camera_optical_frame_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="-1.5708 0.0 -1.5708" />
    <parent link="right_camera_frame" />
    <child link="right_camera_optical_frame" />
  </joint>
  <link name="right_camera_optical_frame" />
  <joint name="center_top_led_frame_joint" type="fixed">
    <origin xyz="0.01125 0.0 0.0105" rpy="0.0 0.0 0.0" />
    <parent link="head" />
    <child link="center_top_led_frame" />
  </joint>
  <link name="center_top_led_frame">
    <inertial>
      <origin xyz="-0.064243 3.3383e-05 0.03824" rpy="0.0 0.0 0.0" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="center_bottom_led_frame_joint" type="fixed">
    <origin xyz="0.01125 0.0 -0.0155" rpy="0.0 0.0 0.0" />
    <parent link="head" />
    <child link="center_bottom_led_frame" />
  </joint>
  <link name="center_bottom_led_frame">
    <inertial>
      <origin xyz="-0.064243 3.3383e-05 0.01224" rpy="0.0 0.0 0.0" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="left_led_frame_joint" type="fixed">
    <origin xyz="-0.01443 0.07452 0.050346" rpy="0.0 -0.15 0.53" />
    <parent link="head" />
    <child link="left_led_frame" />
  </joint>
  <link name="left_led_frame">
    <inertial>
      <origin xyz="-0.089923 0.074553383 0.078086" rpy="0.0 -0.15 0.53" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="right_led_frame_joint" type="fixed">
    <origin xyz="-0.01443 -0.07452 0.050346" rpy="0.0 -0.15 -0.53" />
    <parent link="head" />
    <child link="right_led_frame" />
  </joint>
  <link name="right_led_frame">
    <inertial>
      <origin xyz="-0.089923 -0.074486617 0.07908" rpy="0.0 -0.15 -0.53" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <link name="head_imu_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.01 0.01 0.01" />
      </geometry>
    </visual>
    <inertial>
      <origin xyz="-0.122993 0.035033383 0.02774" rpy="0.0 0.0 0.0" />
      <mass value="1e-05" />
      <inertia ixx="1e-06" ixy="0.0" ixz="0.0" iyy="1e-06" iyz="0.0" izz="1e-06" />
    </inertial>
  </link>
  <joint name="head_imu_joint" type="fixed">
    <origin xyz="-0.0475 0.035 0.0" rpy="0.0 0.0 0.0" />
    <parent link="head" />
    <child link="head_imu_link" />
  </joint>
  <link name="pelvis">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/pelvis/pelvis.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/pelvis/pelvis.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.00532 -0.003512 -0.0036" rpy="0.0 0.0 0.0" />
      <mass value="8.22" />
      <inertia ixx="0.11866378" ixy="-0.000143482" ixz="0.003271293" iyy="0.097963425" iyz="0.002159545" izz="0.083854638" />
    </inertial>
  </link>
  <link name="torsoYawLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/torso/torsoyaw.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/torso/torsoyaw.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.01" rpy="0.0 0.0 0.0" />
      <mass value="0.5" />
      <inertia ixx="0.000608427" ixy="-1.172e-06" ixz="1.647e-06" iyy="0.000620328" iyz="-2.33e-07" izz="0.001078108" />
    </inertial>
  </link>
  <link name="torsoPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/torso/torsopitch.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/torso/torsopitch.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.005" rpy="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="3.032e-05" ixy="0.0" ixz="-1.145e-06" iyy="2.1274e-05" iyz="0.0" izz="2.8285e-05" />
    </inertial>
  </link>
  <link name="torso">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/torso/torso.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/torso/torso.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.095548 -0.003337 0.243098" rpy="0.0 0.0 0.0" />
      <mass value="39.47" />
      <inertia ixx="0.87326933" ixy="9.9563e-05" ixz="0.061345211" iyy="1.0108485" iyz="0.00181849" izz="0.77839801" />
    </inertial>
  </link>
  <joint name="torsoYaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="torsoYawLink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="190.0" velocity="5.89" lower="-1.329" upper="1.181" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="torsoPitch" type="revolute">
    <origin xyz="0.04191 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="torsoYawLink" />
    <child link="torsoPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="150.0" velocity="9.0" lower="-0.13" upper="0.666" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="torsoRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0203" rpy="0.0 0.0 0.0" />
    <parent link="torsoPitchLink" />
    <child link="torso" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="150.0" velocity="9.0" lower="-0.23" upper="0.255" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="lowerNeckPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/head/neckj1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/head/neckj1.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.02 0.0 0.04" rpy="0.0 0.0 0.0" />
      <mass value="1.05" />
      <inertia ixx="0.001470716" ixy="-0.000126021" ixz="0.000632521" iyy="0.001851919" iyz="0.000243012" izz="0.000832117" />
    </inertial>
  </link>
  <link name="neckYawLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/head/neckj2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/head/neckj2.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.03 -0.01 0.15" rpy="0.0 0.0 0.0" />
      <mass value="1.4" />
      <inertia ixx="0.001997698" ixy="-0.000180062" ixz="0.000723677" iyy="0.002919928" iyz="0.000246467" izz="0.002119751" />
    </inertial>
  </link>
  <link name="upperNeckPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/head/head_multisense_no_visor.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/head/head_multisense_no_visor.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.100912 0.005783 0.034787" rpy="0.0 0.0 0.0" />
      <mass value="3.89" />
      <inertia ixx="0.039847525" ixy="-0.000470418" ixz="-0.002829842" iyy="0.041418564" iyz="-0.000782564" izz="0.036841236" />
    </inertial>
  </link>
  <joint name="lowerNeckPitch" type="revolute">
    <origin xyz="0.0203518 0.0 0.33845" rpy="0.0 0.0 0.0" />
    <parent link="torso" />
    <child link="lowerNeckPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="26.0" velocity="5.0" lower="0.0" upper="1.162" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="neckYaw" type="revolute">
    <origin xyz="-0.051924 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="lowerNeckPitchLink" />
    <child link="neckYawLink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="26.0" velocity="5.0" lower="-1.04719755" upper="1.04719755" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="upperNeckPitch" type="revolute">
    <origin xyz="-0.06 0.0 0.195997" rpy="0.0 0.0 0.0" />
    <parent link="neckYawLink" />
    <child link="upperNeckPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="26.0" velocity="5.0" lower="-0.872" upper="0.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="rightShoulderPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj1_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj1_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.012 -0.251 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.65" />
      <inertia ixx="0.013718167" ixy="0.0" ixz="0.0" iyy="0.010502833" iyz="0.0" izz="0.014806433" />
    </inertial>
  </link>
  <link name="rightShoulderRollLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj2_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj2_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.008513 -0.02068 -0.001088" rpy="0.0 0.0 0.0" />
      <mass value="3.97" />
      <inertia ixx="0.014598842" ixy="-0.00066764" ixz="3.629e-05" iyy="0.006452136" iyz="8.283e-05" izz="0.016848319" />
    </inertial>
  </link>
  <link name="rightShoulderYawLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj3_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj3_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.004304 -0.209832 -0.007295" rpy="0.0 0.0 0.0" />
      <mass value="3.085" />
      <inertia ixx="0.039355177" ixy="0.007827077" ixz="0.000753947" iyy="0.004905765" iyz="-0.002723873" izz="0.041879481" />
    </inertial>
  </link>
  <link name="rightElbowPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj4_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj4_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.020344 -0.014722 -0.0223" rpy="0.0 0.0 0.0" />
      <mass value="1.83" />
      <inertia ixx="0.003314516" ixy="-0.000535099" ixz="-0.000728077" iyy="0.003505669" iyz="-0.000423865" izz="0.003011283" />
    </inertial>
  </link>
  <joint name="rightShoulderPitch" type="revolute">
    <origin xyz="-0.0316 0.0 0.2984" rpy="0.0 0.0 0.0" />
    <parent link="torso" />
    <child link="rightShoulderPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="190.0" velocity="5.89" lower="-2.85" upper="2.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightShoulderRoll" type="revolute">
    <origin xyz="0.0 -0.2499 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightShoulderPitchLink" />
    <child link="rightShoulderRollLink" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="190.0" velocity="5.89" lower="-1.266" upper="1.519" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightShoulderYaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightShoulderRollLink" />
    <child link="rightShoulderYawLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="65.0" velocity="11.5" lower="-3.1" upper="2.18" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightElbowPitch" type="revolute">
    <origin xyz="0.0254 -0.33 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightShoulderYawLink" />
    <child link="rightElbowPitchLink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="65.0" velocity="11.5" lower="-0.12" upper="2.174" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="rightForearmLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj5_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj5_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.015 -0.13 0.019564" rpy="0.0 0.0 0.0" />
      <mass value="2.476" />
      <inertia ixx="0.01175543" ixy="-0.001300853" ixz="-0.000727141" iyy="0.005071567" iyz="-0.001695416" izz="0.011365657" />
    </inertial>
  </link>
  <link name="rightWristRollLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj6_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj6_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.14" />
      <inertia ixx="3.0251e-05" ixy="-1.25e-07" ixz="-3.6e-08" iyy="3.772e-05" iyz="0.0" izz="9.395e-06" />
    </inertial>
  </link>
  <link name="rightPalm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/palm_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/palm_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002954 -0.052034 -0.000236" rpy="0.0 0.0 0.0" />
      <mass value="0.712" />
      <inertia ixx="0.000943493" ixy="3.4393e-05" ixz="-3.8828e-05" iyy="0.000711024" iyz="2.3429e-05" izz="0.000610199" />
    </inertial>
  </link>
  <joint name="rightForearmYaw" type="revolute">
    <origin xyz="-0.0254 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightElbowPitchLink" />
    <child link="rightForearmLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="26.0" velocity="5.0" lower="-2.019" upper="3.14" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightWristRoll" type="revolute">
    <origin xyz="0.0 -0.2871 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightForearmLink" />
    <child link="rightWristRollLink" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="14.0" velocity="1.0" lower="-0.625" upper="0.62" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightWristPitch" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightWristRollLink" />
    <child link="rightPalm" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="14.0" velocity="1.0" lower="-0.49" upper="0.36" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="rightThumbRollLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj1_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj1_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.0 0.01" rpy="0.0 0.0 0.0" />
      <mass value="0.017" />
      <inertia ixx="2.7778767e-06" ixy="5.6718533e-09" ixz="-9.5523207e-08" iyy="3.5462642e-06" iyz="3.663718e-08" izz="1.3553297e-06" />
    </inertial>
  </link>
  <link name="rightThumbPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj2_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj2_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.005 0.02" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="4.239e-06" ixy="0.0" ixz="-0.0" iyy="4.582e-06" iyz="0.0" izz="1.47e-06" />
    </inertial>
  </link>
  <link name="rightThumbPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj3_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj3_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.004 0.017" rpy="0.0 0.0 0.0" />
      <mass value="0.013" />
      <inertia ixx="1.266e-06" ixy="0.0" ixz="-0.0" iyy="1.503e-06" iyz="-0.0" izz="6.99e-07" />
    </inertial>
  </link>
  <link name="rightThumbPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj4_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj4_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.004 0.01" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.22e-07" ixy="0.0" ixz="0.0" iyy="4.06e-07" iyz="0.0" izz="2.1e-07" />
    </inertial>
  </link>
  <joint name="rightThumbRoll" type="revolute">
    <origin xyz="0.0049 -0.0351 0.0228" rpy="0.3491 0.0 0.0" />
    <parent link="rightPalm" />
    <child link="rightThumbRollLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="2.356" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightThumbPitch1" type="revolute">
    <origin xyz="0.0 0.0 0.0229" rpy="-0.3491 0.0 0.0" />
    <parent link="rightThumbRollLink" />
    <child link="rightThumbPitch1Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightThumbPitch2" type="revolute">
    <origin xyz="0.0 -0.0066 0.0375" rpy="0.0 0.0 0.0" />
    <parent link="rightThumbPitch1Link" />
    <child link="rightThumbPitch2Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightThumbPitch3" type="revolute">
    <origin xyz="0.0 -0.0049 0.0275" rpy="0.0 0.0 0.0" />
    <parent link="rightThumbPitch2Link" />
    <child link="rightThumbPitch3Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="rightIndexFingerPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj1_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj1_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="4.232e-06" ixy="-6e-08" ixz="-8e-09" iyy="1.215e-06" iyz="-7e-09" izz="3.892e-06" />
    </inertial>
  </link>
  <link name="rightIndexFingerPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj2_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj2_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.013 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.018" />
      <inertia ixx="1.562e-06" ixy="-1.7e-08" ixz="-1.3e-08" iyy="7.22e-07" iyz="3.1e-08" izz="1.255e-06" />
    </inertial>
  </link>
  <link name="rightIndexFingerPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj3_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj3_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="6.02e-07" ixy="-2.4e-08" ixz="0.0" iyy="2.09e-07" iyz="1.7e-08" izz="5.02e-07" />
    </inertial>
  </link>
  <joint name="rightIndexFingerPitch1" type="revolute">
    <origin xyz="0.0022 -0.0976 0.0235" rpy="-0.1745 0.0 0.0" />
    <parent link="rightPalm" />
    <child link="rightIndexFingerPitch1Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightIndexFingerPitch2" type="revolute">
    <origin xyz="0.0 -0.0381 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightIndexFingerPitch1Link" />
    <child link="rightIndexFingerPitch2Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightIndexFingerPitch3" type="revolute">
    <origin xyz="0.0 -0.0229 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightIndexFingerPitch2Link" />
    <child link="rightIndexFingerPitch3Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="rightMiddleFingerPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej1_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej1_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="5.148e-06" ixy="-4.2e-08" ixz="-1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
    </inertial>
  </link>
  <link name="rightMiddleFingerPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej2_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej2_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.013 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.011" />
      <inertia ixx="1.97e-06" ixy="3.4e-08" ixz="-1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
    </inertial>
  </link>
  <link name="rightMiddleFingerPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej3_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej3_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.96e-07" ixy="-9e-09" ixz="-1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
    </inertial>
  </link>
  <joint name="rightMiddleFingerPitch1" type="revolute">
    <origin xyz="0.0022 -0.097 -0.0119" rpy="0.1222 0.0 0.0" />
    <parent link="rightPalm" />
    <child link="rightMiddleFingerPitch1Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightMiddleFingerPitch2" type="revolute">
    <origin xyz="0.0 -0.0381 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightMiddleFingerPitch1Link" />
    <child link="rightMiddleFingerPitch2Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightMiddleFingerPitch3" type="revolute">
    <origin xyz="0.0 -0.0229 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightMiddleFingerPitch2Link" />
    <child link="rightMiddleFingerPitch3Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="rightPinkyPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj1_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj1_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.02 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="5.148e-06" ixy="-4.2e-08" ixz="-1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
    </inertial>
  </link>
  <link name="rightPinkyPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj2_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj2_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.013 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.011" />
      <inertia ixx="1.97e-06" ixy="3.4e-08" ixz="-1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
    </inertial>
  </link>
  <link name="rightPinkyPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj3_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj3_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.96e-07" ixy="-9e-09" ixz="-1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
    </inertial>
  </link>
  <joint name="rightPinkyPitch1" type="revolute">
    <origin xyz="0.0022 -0.0838 -0.041" rpy="0.1222 0.0 0.0" />
    <parent link="rightPalm" />
    <child link="rightPinkyPitch1Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.57" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightPinkyPitch2" type="revolute">
    <origin xyz="0.0 -0.0381 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightPinkyPitch1Link" />
    <child link="rightPinkyPitch2Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.658" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="rightPinkyPitch3" type="revolute">
    <origin xyz="0.0 -0.0229 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightPinkyPitch2Link" />
    <child link="rightPinkyPitch3Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="1.92" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="leftShoulderPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj1_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj1_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.012 0.251 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.65" />
      <inertia ixx="0.013718167" ixy="0.0" ixz="0.0" iyy="0.010502833" iyz="0.0" izz="0.014806433" />
    </inertial>
  </link>
  <link name="leftShoulderRollLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj2_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj2_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.008513 0.02068 -0.001088" rpy="0.0 0.0 0.0" />
      <mass value="3.97" />
      <inertia ixx="0.014598842" ixy="-0.00066764" ixz="-3.629e-05" iyy="0.006452136" iyz="-8.283e-05" izz="0.016848319" />
    </inertial>
  </link>
  <link name="leftShoulderYawLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj3_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj3_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.004304 0.209832 0.007295" rpy="0.0 0.0 0.0" />
      <mass value="3.085" />
      <inertia ixx="0.039355177" ixy="-0.007827077" ixz="-0.000753947" iyy="0.004905765" iyz="0.002723873" izz="0.041879481" />
    </inertial>
  </link>
  <link name="leftElbowPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj4_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj4_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.020344 0.014722 0.0223" rpy="0.0 0.0 0.0" />
      <mass value="1.83" />
      <inertia ixx="0.003314516" ixy="0.000535099" ixz="0.000728077" iyy="0.003505669" iyz="-0.000423865" izz="0.003011283" />
    </inertial>
  </link>
  <joint name="leftShoulderPitch" type="revolute">
    <origin xyz="-0.0316 0.0 0.2984" rpy="0.0 0.0 0.0" />
    <parent link="torso" />
    <child link="leftShoulderPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="190.0" velocity="5.89" lower="-2.85" upper="2.0" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftShoulderRoll" type="revolute">
    <origin xyz="0.0 0.2499 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftShoulderPitchLink" />
    <child link="leftShoulderRollLink" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="190.0" velocity="5.89" lower="-1.519" upper="1.266" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftShoulderYaw" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftShoulderRollLink" />
    <child link="leftShoulderYawLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="65.0" velocity="11.5" lower="-3.1" upper="2.18" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftElbowPitch" type="revolute">
    <origin xyz="0.0254 0.33 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftShoulderYawLink" />
    <child link="leftElbowPitchLink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="65.0" velocity="11.5" lower="-2.174" upper="0.12" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="leftForearmLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj5_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj5_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.015 0.13 0.019564" rpy="0.0 0.0 0.0" />
      <mass value="2.476" />
      <inertia ixx="0.01175543" ixy="0.001300853" ixz="-0.000727141" iyy="0.005071567" iyz="0.001695416" izz="0.011365657" />
    </inertial>
  </link>
  <link name="leftWristRollLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj6_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/aj6_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.14" />
      <inertia ixx="3.0251e-05" ixy="1.25e-07" ixz="3.6e-08" iyy="3.772e-05" iyz="0.0" izz="9.395e-06" />
    </inertial>
  </link>
  <link name="leftPalm">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/palm_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/arms/palm_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.002954 0.052034 -0.000236" rpy="0.0 0.0 0.0" />
      <mass value="0.712" />
      <inertia ixx="0.000943493" ixy="3.4393e-05" ixz="3.8828e-05" iyy="0.000711024" iyz="-2.3429e-05" izz="0.000610199" />
    </inertial>
  </link>
  <joint name="leftForearmYaw" type="revolute">
    <origin xyz="-0.0254 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftElbowPitchLink" />
    <child link="leftForearmLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="26.0" velocity="5.0" lower="-2.019" upper="3.14" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftWristRoll" type="revolute">
    <origin xyz="0.0 0.2871 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftForearmLink" />
    <child link="leftWristRollLink" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="14.0" velocity="1.0" lower="-0.62" upper="0.625" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftWristPitch" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftWristRollLink" />
    <child link="leftPalm" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="14.0" velocity="1.0" lower="-0.36" upper="0.49" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <link name="leftThumbRollLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj1_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj1_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0" />
      <mass value="0.017" />
      <inertia ixx="2.7778767e-06" ixy="5.6718533e-09" ixz="9.5523207e-08" iyy="3.5462642e-06" iyz="-3.663718e-08" izz="1.3553297e-06" />
    </inertial>
  </link>
  <link name="leftThumbPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj2_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj2_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.005 0.02" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="4.239e-06" ixy="0.0" ixz="0.0" iyy="4.582e-06" iyz="-0.0" izz="1.47e-06" />
    </inertial>
  </link>
  <link name="leftThumbPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj3_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj3_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.004 0.017" rpy="0.0 0.0 0.0" />
      <mass value="0.013" />
      <inertia ixx="1.266e-06" ixy="0.0" ixz="0.0" iyy="1.503e-06" iyz="0.0" izz="6.99e-07" />
    </inertial>
  </link>
  <link name="leftThumbPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj4_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/thumbj4_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.004 0.01" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.22e-07" ixy="0.0" ixz="0.0" iyy="4.06e-07" iyz="0.0" izz="2.1e-07" />
    </inertial>
  </link>
  <joint name="leftThumbRoll" type="revolute">
    <origin xyz="0.0049 0.0351 0.0228" rpy="-0.3491 0.0 0.0" />
    <parent link="leftPalm" />
    <child link="leftThumbRollLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="0.0" upper="2.356" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftThumbPitch1" type="revolute">
    <origin xyz="0.0 0.0 0.0229" rpy="0.3491 0.0 0.0" />
    <parent link="leftThumbRollLink" />
    <child link="leftThumbPitch1Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftThumbPitch2" type="revolute">
    <origin xyz="0.0 0.0066 0.0375" rpy="0.0 0.0 0.0" />
    <parent link="leftThumbPitch1Link" />
    <child link="leftThumbPitch2Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftThumbPitch3" type="revolute">
    <origin xyz="0.0 0.0049 0.0275" rpy="0.0 0.0 0.0" />
    <parent link="leftThumbPitch2Link" />
    <child link="leftThumbPitch3Link" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="leftIndexFingerPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj1_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj1_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="4.232e-06" ixy="6e-08" ixz="8e-09" iyy="1.215e-06" iyz="-7e-09" izz="3.892e-06" />
    </inertial>
  </link>
  <link name="leftIndexFingerPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj2_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj2_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.013 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.018" />
      <inertia ixx="1.562e-06" ixy="1.7e-08" ixz="1.3e-08" iyy="7.22e-07" iyz="3.1e-08" izz="1.255e-06" />
    </inertial>
  </link>
  <link name="leftIndexFingerPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj3_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/indexj3_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.01" />
      <inertia ixx="6.02e-07" ixy="2.4e-08" ixz="-0.0" iyy="2.09e-07" iyz="1.7e-08" izz="5.02e-07" />
    </inertial>
  </link>
  <joint name="leftIndexFingerPitch1" type="revolute">
    <origin xyz="0.0022 0.0976 0.0235" rpy="0.1745 0.0 0.0" />
    <parent link="leftPalm" />
    <child link="leftIndexFingerPitch1Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftIndexFingerPitch2" type="revolute">
    <origin xyz="0.0 0.0381 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftIndexFingerPitch1Link" />
    <child link="leftIndexFingerPitch2Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftIndexFingerPitch3" type="revolute">
    <origin xyz="0.0 0.0229 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftIndexFingerPitch2Link" />
    <child link="leftIndexFingerPitch3Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="leftMiddleFingerPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej1_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej1_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="5.148e-06" ixy="4.2e-08" ixz="1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
    </inertial>
  </link>
  <link name="leftMiddleFingerPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej2_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej2_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.013 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.011" />
      <inertia ixx="1.97e-06" ixy="-3.4e-08" ixz="1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
    </inertial>
  </link>
  <link name="leftMiddleFingerPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej3_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/middlej3_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.96e-07" ixy="9e-09" ixz="1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
    </inertial>
  </link>
  <joint name="leftMiddleFingerPitch1" type="revolute">
    <origin xyz="0.0022 0.097 -0.0119" rpy="-0.1222 0.0 0.0" />
    <parent link="leftPalm" />
    <child link="leftMiddleFingerPitch1Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftMiddleFingerPitch2" type="revolute">
    <origin xyz="0.0 0.0381 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftMiddleFingerPitch1Link" />
    <child link="leftMiddleFingerPitch2Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftMiddleFingerPitch3" type="revolute">
    <origin xyz="0.0 0.0229 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftMiddleFingerPitch2Link" />
    <child link="leftMiddleFingerPitch3Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="leftPinkyPitch1Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj1_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj1_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.02 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.02" />
      <inertia ixx="5.148e-06" ixy="4.2e-08" ixz="1.1e-08" iyy="1.322e-06" iyz="-4e-09" izz="4.592e-06" />
    </inertial>
  </link>
  <link name="leftPinkyPitch2Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj2_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj2_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.013 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.011" />
      <inertia ixx="1.97e-06" ixy="-3.4e-08" ixz="1.1e-08" iyy="5.54e-07" iyz="-7.8e-08" izz="2.272e-06" />
    </inertial>
  </link>
  <link name="leftPinkyPitch3Link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj3_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/fingers/pinkyj3_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.006" />
      <inertia ixx="3.96e-07" ixy="9e-09" ixz="1e-09" iyy="1.6e-07" iyz="1.6e-08" izz="3.03e-07" />
    </inertial>
  </link>
  <joint name="leftPinkyPitch1" type="revolute">
    <origin xyz="0.0022 0.0838 -0.041" rpy="-0.1222 0.0 0.0" />
    <parent link="leftPalm" />
    <child link="leftPinkyPitch1Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.57" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftPinkyPitch2" type="revolute">
    <origin xyz="0.0 0.0381 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftPinkyPitch1Link" />
    <child link="leftPinkyPitch2Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.658" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <joint name="leftPinkyPitch3" type="revolute">
    <origin xyz="0.0 0.0229 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftPinkyPitch2Link" />
    <child link="leftPinkyPitch3Link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="10.0" velocity="1.0" lower="-1.92" upper="-0.0" />
    <dynamics damping="0.5" friction="0.5" />
  </joint>
  <link name="rightHipYawLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj1_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj1_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02176 0.00131 0.03867" rpy="0.0 0.0 0.0" />
      <mass value="2.39" />
      <inertia ixx="0.017260978" ixy="0.0" ixz="0.0" iyy="0.014866198" iyz="0.0" izz="0.011238178" />
    </inertial>
  </link>
  <link name="rightHipRollLink">
    <inertial>
      <origin xyz="0.012959 -0.00755 -0.01595" rpy="0.0 0.0 0.0" />
      <mass value="3.665" />
      <inertia ixx="0.005978962" ixy="0.000234823" ixz="0.000553962" iyy="0.009372646" iyz="-0.000778956" izz="0.008193117" />
    </inertial>
  </link>
  <link name="rightHipPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj3_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj3_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.016691 -0.091397 -0.207875" rpy="0.0 0.0 0.0" />
      <mass value="10.2" />
      <inertia ixx="0.24083413" ixy="-3.5915e-05" ixz="0.003699383" iyy="0.25689705" iyz="0.001333005" izz="0.023276352" />
    </inertial>
  </link>
  <link name="rightKneePitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj4_right.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj4_right.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.022183 0.001703 -0.189418" rpy="0.0 0.0 0.0" />
      <mass value="6.2" />
      <inertia ixx="0.086935683" ixy="9.929e-05" ixz="0.000573207" iyy="0.091584066" iyz="0.000313745" izz="0.014017272" />
    </inertial>
  </link>
  <link name="rightAnklePitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.03" />
      <inertia ixx="4.377e-06" ixy="0.0" ixz="0.0" iyy="4.322e-06" iyz="0.0" izz="7.015e-06" />
    </inertial>
  </link>
  <link name="rightFoot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.045 0.0 -0.056" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.27 0.16 0.064" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.037702 0.005161 -0.047634" rpy="0.0 0.0 0.0" />
      <mass value="2.27" />
      <inertia ixx="0.00623936" ixy="0.000217174" ixz="0.001340587" iyy="0.017786991" iyz="-0.000187749" izz="0.020774433" />
    </inertial>
  </link>
  <joint name="rightHipYaw" type="revolute">
    <origin xyz="0.0 -0.1016 -0.1853" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="rightHipYawLink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="190.0" velocity="5.89" lower="-1.1" upper="0.4141" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightHipRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightHipYawLink" />
    <child link="rightHipRollLink" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="350.0" velocity="7.0" lower="-0.5515" upper="0.467" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightHipPitch" type="revolute">
    <origin xyz="0.0 0.0 -0.0609" rpy="0.0 0.0 0.0" />
    <parent link="rightHipRollLink" />
    <child link="rightHipPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="350.0" velocity="6.11" lower="-2.42" upper="1.619" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightKneePitch" type="revolute">
    <origin xyz="0.000112225 -0.0361046 -0.430959" rpy="0.0 0.0 0.0" />
    <parent link="rightHipPitchLink" />
    <child link="rightKneePitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="350.0" velocity="6.11" lower="-0.083" upper="2.057" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightAnklePitch" type="revolute">
    <origin xyz="-0.0102381 0.0 -0.40627" rpy="0.0 0.0 0.0" />
    <parent link="rightKneePitchLink" />
    <child link="rightAnklePitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="205.0" velocity="11.0" lower="-0.93" upper="0.65" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="rightAnkleRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="rightAnklePitchLink" />
    <child link="rightFoot" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="205.0" velocity="11.0" lower="-0.4" upper="0.4" />
    <dynamics damping="0.3" friction="0.0" />
  </joint>
  <link name="leftHipYawLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj1_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj1_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.02176 -0.00131 0.03867" rpy="0.0 0.0 0.0" />
      <mass value="2.39" />
      <inertia ixx="0.017260978" ixy="0.0" ixz="0.0" iyy="0.014866198" iyz="0.0" izz="0.011238178" />
    </inertial>
  </link>
  <link name="leftHipRollLink">
    <inertial>
      <origin xyz="0.012959 0.00755 -0.01595" rpy="0.0 0.0 0.0" />
      <mass value="3.665" />
      <inertia ixx="0.005978962" ixy="-0.000234823" ixz="0.000553962" iyy="0.009372646" iyz="0.000778956" izz="0.008193117" />
    </inertial>
  </link>
  <link name="leftHipPitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj3_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj3_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.016691 0.091397 -0.207875" rpy="0.0 0.0 0.0" />
      <mass value="10.2" />
      <inertia ixx="0.24083413" ixy="3.5915e-05" ixz="0.003699383" iyy="0.25689705" iyz="-0.001333005" izz="0.023276352" />
    </inertial>
  </link>
  <link name="leftKneePitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj4_left.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj4_left.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.022183 0.001703 -0.189418" rpy="0.0 0.0 0.0" />
      <mass value="6.2" />
      <inertia ixx="0.086935683" ixy="9.929e-05" ixz="0.000573207" iyy="0.091584066" iyz="0.000313745" izz="0.014017272" />
    </inertial>
  </link>
  <link name="leftAnklePitchLink">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/lj5.dae" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.03" />
      <inertia ixx="4.377e-06" ixy="0.0" ixz="0.0" iyy="4.322e-06" iyz="0.0" izz="7.015e-06" />
    </inertial>
  </link>
  <link name="leftFoot">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://val_description/model/meshes/legs/foot.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.045 0.0 -0.056" rpy="0.0 0.0 0.0" />
      <geometry>
        <box size="0.27 0.16 0.064" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.037702 0.005161 -0.047634" rpy="0.0 0.0 0.0" />
      <mass value="2.27" />
      <inertia ixx="0.00623936" ixy="0.000217174" ixz="0.001340587" iyy="0.017786991" iyz="-0.000187749" izz="0.020774433" />
    </inertial>
  </link>
  <joint name="leftHipYaw" type="revolute">
    <origin xyz="0.0 0.1016 -0.1853" rpy="0.0 0.0 0.0" />
    <parent link="pelvis" />
    <child link="leftHipYawLink" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="190.0" velocity="5.89" lower="-0.4141" upper="1.1" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftHipRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftHipYawLink" />
    <child link="leftHipRollLink" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="350.0" velocity="7.0" lower="-0.467" upper="0.5515" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftHipPitch" type="revolute">
    <origin xyz="0.0 0.0 -0.0609" rpy="0.0 0.0 0.0" />
    <parent link="leftHipRollLink" />
    <child link="leftHipPitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="350.0" velocity="6.11" lower="-2.42" upper="1.619" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftKneePitch" type="revolute">
    <origin xyz="0.000112225 0.0361046 -0.430959" rpy="0.0 0.0 0.0" />
    <parent link="leftHipPitchLink" />
    <child link="leftKneePitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="350.0" velocity="6.11" lower="-0.083" upper="2.057" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftAnklePitch" type="revolute">
    <origin xyz="-0.0102381 0.0 -0.40627" rpy="0.0 0.0 0.0" />
    <parent link="leftKneePitchLink" />
    <child link="leftAnklePitchLink" />
    <axis xyz="0.0 1.0 0.0" />
    <limit effort="205.0" velocity="11.0" lower="-0.93" upper="0.65" />
    <dynamics damping="0.1" friction="0.0" />
  </joint>
  <joint name="leftAnkleRoll" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="leftAnklePitchLink" />
    <child link="leftFoot" />
    <axis xyz="1.0 0.0 0.0" />
    <limit effort="205.0" velocity="11.0" lower="-0.4" upper="0.4" />
    <dynamics damping="0.3" friction="0.0" />
  </joint>
  <link name="leftCOP_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="8.33333333333e-05" ixy="0.0" ixz="0.0" iyy="8.33333333333e-05" iyz="0.0" izz="0.000125" />
    </inertial>
  </link>
  <joint name="leftCOP_Offset" type="fixed">
    <origin xyz="0.0189 0.0 -0.0783" rpy="0.0 0.0 0.0" />
    <parent link="leftFoot" />
    <child link="leftCOP_Frame" />
  </joint>
  <link name="leftFootSixAxis_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-07" />
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
    </inertial>
  </link>
  <joint name="leftFootSixAxis_Offset" type="fixed">
    <origin xyz="0.0215646 0.0 -0.051054" rpy="3.14 0.0 0.0" />
    <parent link="leftFoot" />
    <child link="leftFootSixAxis_Frame" />
  </joint>
  <link name="rightCOP_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.1" />
      <inertia ixx="8.33333333333e-05" ixy="0.0" ixz="0.0" iyy="8.33333333333e-05" iyz="0.0" izz="0.000125" />
    </inertial>
  </link>
  <joint name="rightCOP_Offset" type="fixed">
    <origin xyz="0.0189 0.0 -0.0783" rpy="0.0 0.0 0.0" />
    <parent link="rightFoot" />
    <child link="rightCOP_Frame" />
  </joint>
  <link name="rightFootSixAxis_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-07" />
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
    </inertial>
  </link>
  <joint name="rightFootSixAxis_Offset" type="fixed">
    <origin xyz="0.0215646 0.0 -0.051054" rpy="3.14 0.0 0.0" />
    <parent link="rightFoot" />
    <child link="rightFootSixAxis_Frame" />
  </joint>
  <joint name="multisense_head_root_joint" type="fixed">
    <origin xyz="0.183585961 0.0 0.075353826" rpy="-3.14159 0.130899694 0.0" />
    <parent link="upperNeckPitchLink" />
    <child link="head" />
  </joint>
  <link name="leftTorsoImu_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-07" />
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
    </inertial>
  </link>
  <joint name="leftTorsoImu_Offset" type="fixed">
    <origin xyz="-0.0627634 0.134239 0.3630676" rpy="-1.5707 0.0 0.0" />
    <parent link="torso" />
    <child link="leftTorsoImu_Frame" />
  </joint>
  <link name="rightHazardCamera_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-07" />
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
    </inertial>
  </link>
  <joint name="rightHazardCamera_Offset" type="fixed">
    <origin xyz="0.0345 -0.0406 0.1135" rpy="1.57 0.0 1.57" />
    <parent link="torso" />
    <child link="rightHazardCamera_Frame" />
  </joint>
  <link name="leftHazardCamera_Frame">
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="1e-07" />
      <inertia ixx="3.33333333333e-22" ixy="0.0" ixz="0.0" iyy="3.33333333333e-22" iyz="0.0" izz="5e-22" />
    </inertial>
  </link>
  <joint name="leftHazardCamera_Offset" type="fixed">
    <origin xyz="0.0345 0.0406 0.1135" rpy="1.57 0.0 1.57" />
    <parent link="torso" />
    <child link="leftHazardCamera_Frame" />
  </joint>
</robot>
