<sdf version='1.4'>
  <model name='drc_skeleton'>
    <link name='pelvis'>
      <pose>0 0 0 0 -0 0</pose>
      <inertial>
        <pose>0.0111 0 0.0271 0 -0 0</pose>
        <mass>17.882</mass>
        <inertia>
          <ixx>0.1244</ixx>
          <ixy>0.0008</ixy>
          <ixz>-0.0007</ixz>
          <iyy>0.0958</iyy>
          <iyz>-0.0005</iyz>
          <izz>0.1167</izz>
        </inertia>
      </inertial>
      <collision name='pelvis_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>pelvis.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='pelvis_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>pelvis.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <link name='ltorso'>
      <pose>-0.0125 0 0 0 -0 0</pose>
      <inertial>
        <pose>-0.0112984 -3.15366e-06 0.0746835 0 -0 0</pose>
        <mass>2.409</mass>
        <inertia>
          <ixx>0.0039092</ixx>
          <ixy>-5.04491e-08</ixy>
          <ixz>-0.000342157</ixz>
          <iyy>0.00341694</iyy>
          <iyz>4.87119e-07</iyz>
          <izz>0.00174492</izz>
        </inertia>
      </inertial>
      <collision name='ltorso_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>ltorso.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='ltorso_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>ltorso.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='back_bkz' type='revolute'>
      <child>ltorso</child>
      <parent>pelvis</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.663225</lower>
          <upper>0.663225</upper>
          <effort>124.016</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='mtorso'>
      <pose>-0.0125 0 0.16197 0 -0 0</pose>
      <inertial>
        <pose>-0.00816266 -0.0131245 0.0305974 0 -0 0</pose>
        <mass>0.69</mass>
        <inertia>
          <ixx>0.000454181</ixx>
          <ixy>-6.10764e-05</ixy>
          <ixz>3.94009e-05</ixz>
          <iyy>0.000483282</iyy>
          <iyz>5.27463e-05</iyz>
          <izz>0.000444215</izz>
        </inertia>
      </inertial>
      <collision name='mtorso_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>mtorso.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='mtorso_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>mtorso.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='back_bky' type='revolute'>
      <child>mtorso</child>
      <parent>ltorso</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-0.610691</lower>
          <upper>0.438427</upper>
          <effort>206.843</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='utorso'>
      <pose>-0.0125 0 0.21197 0 -0 0</pose>
      <inertial>
        <pose>-0.0909481 5.04713e-05 0.301106 0 -0 0</pose>
        <mass>52.307</mass>
        <inertia>
          <ixx>1.4846</ixx>
          <ixy>0.00338676</ixy>
          <ixz>0.326214</ixz>
          <iyy>1.54533</iyy>
          <iyz>3.95833e-05</iyz>
          <izz>1.32284</izz>
        </inertia>
      </inertial>
      <collision name='utorso_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>utorso.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <collision name='utorso_collision_utorso_1'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>utorso_pack.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='utorso_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>utorso.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='utorso_visual_utorso_1'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>utorso_pack.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <visual name='utorso_visual_l_situational_awareness_camera_link'>
        <pose>0.216409 0.121799 0.406759 -1.5708 5.55112e-17 1.309</pose>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
      </visual>
      <visual name='utorso_visual_r_situational_awareness_camera_link'>
        <pose>0.216409 -0.121799 0.406759 1.5708 5.55112e-17 -1.309</pose>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
      </visual>
      <visual name='utorso_visual_rear_situational_awareness_camera_link'>
        <pose>-0.0026 0.0264 0.6649 0 -0 3.14159</pose>
        <geometry>
          <box>
            <size>0.01 0.01 0.01</size>
          </box>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='back_bkx' type='revolute'>
      <child>utorso</child>
      <parent>mtorso</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.698132</lower>
          <upper>0.698132</upper>
          <effort>200</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_clav'>
      <pose>0.05191 0.13866 0.31915 0 -0 0</pose>
      <inertial>
        <pose>0 0.048 0.084 0 -0 0</pose>
        <mass>3.45</mass>
        <inertia>
          <ixx>0.011</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.009</iyy>
          <iyz>-0.004</iyz>
          <izz>0.004</izz>
        </inertia>
      </inertial>
      <collision name='l_clav_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_clav.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_clav_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_clav.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_arm_shy' type='revolute'>
      <child>l_clav</child>
      <parent>utorso</parent>
      <axis>
        <xyz>0 0.5 0.866025</xyz>
        <limit>
          <lower>-1.5708</lower>
          <upper>0.785398</upper>
          <effort>212</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_scap'>
      <pose>0.05191 0.27901 0.51524 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>3.012</mass>
        <inertia>
          <ixx>0.00319</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00583</iyy>
          <iyz>0</iyz>
          <izz>0.00583</izz>
        </inertia>
      </inertial>
      <collision name='l_scap_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_scap.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_scap_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_scap.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_arm_shx' type='revolute'>
      <child>l_scap</child>
      <parent>l_clav</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.5708</lower>
          <upper>1.5708</upper>
          <effort>170</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_uarm'>
      <pose>0.05191 0.46601 0.53124 0 -0 0</pose>
      <inertial>
        <pose>0 -0.065 0 0 -0 0</pose>
        <mass>3.388</mass>
        <inertia>
          <ixx>0.00656</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00358</iyy>
          <iyz>0</iyz>
          <izz>0.00656</izz>
        </inertia>
      </inertial>
      <collision name='l_uarm_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_uarm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_uarm_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_uarm.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_arm_ely' type='revolute'>
      <child>l_uarm</child>
      <parent>l_scap</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>3.14159</upper>
          <effort>114</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_larm'>
      <pose>0.05191 0.58501 0.54045 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>2.509</mass>
        <inertia>
          <ixx>0.00265</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00446</iyy>
          <iyz>0</iyz>
          <izz>0.00446</izz>
        </inertia>
      </inertial>
      <collision name='l_larm_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_larm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_larm_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_larm.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_arm_elx' type='revolute'>
      <child>l_larm</child>
      <parent>l_uarm</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>2.35619</upper>
          <effort>114</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_farm'>
      <pose>0.05191 0.77201 0.53124 0 -0 0</pose>
      <inertial>
        <pose>0 -0.065 0 0 -0 0</pose>
        <mass>3.388</mass>
        <inertia>
          <ixx>0.00656</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00358</iyy>
          <iyz>0</iyz>
          <izz>0.00656</izz>
        </inertia>
      </inertial>
      <collision name='l_farm_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_farm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_farm_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_farm.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_arm_wry' type='revolute'>
      <child>l_farm</child>
      <parent>l_larm</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>3.14159</upper>
          <effort>114</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_hand'>
      <pose>0.05191 0.89101 0.54045 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>2.509</mass>
        <inertia>
          <ixx>0.00265</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00446</iyy>
          <iyz>0</iyz>
          <izz>0.00446</izz>
        </inertia>
      </inertial>
      <collision name='l_hand_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_hand.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_hand_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_hand.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_arm_wrx' type='revolute'>
      <child>l_hand</child>
      <parent>l_farm</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.1781</lower>
          <upper>1.1781</upper>
          <effort>60</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_clav'>
      <pose>0.05191 -0.13866 0.31915 0 -0 0</pose>
      <inertial>
        <pose>0 -0.048 0.084 0 -0 0</pose>
        <mass>3.45</mass>
        <inertia>
          <ixx>0.011</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.009</iyy>
          <iyz>0.004</iyz>
          <izz>0.004</izz>
        </inertia>
      </inertial>
      <collision name='r_clav_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_clav.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_clav_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_clav.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_arm_shy' type='revolute'>
      <child>r_clav</child>
      <parent>utorso</parent>
      <axis>
        <xyz>0 0.5 -0.866025</xyz>
        <limit>
          <lower>-1.5708</lower>
          <upper>0.785398</upper>
          <effort>212</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_scap'>
      <pose>0.05191 -0.27901 0.51524 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>3.012</mass>
        <inertia>
          <ixx>0.00319</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00583</iyy>
          <iyz>0</iyz>
          <izz>0.00583</izz>
        </inertia>
      </inertial>
      <collision name='r_scap_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_scap.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_scap_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_scap.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_arm_shx' type='revolute'>
      <child>r_scap</child>
      <parent>r_clav</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.5708</lower>
          <upper>1.5708</upper>
          <effort>170</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_uarm'>
      <pose>0.05191 -0.46601 0.53124 0 -0 0</pose>
      <inertial>
        <pose>0 0.065 0 0 -0 0</pose>
        <mass>3.388</mass>
        <inertia>
          <ixx>0.00656</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00358</iyy>
          <iyz>0</iyz>
          <izz>0.00656</izz>
        </inertia>
      </inertial>
      <collision name='r_uarm_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_uarm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_uarm_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_uarm.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_arm_ely' type='revolute'>
      <child>r_uarm</child>
      <parent>r_scap</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>3.14159</upper>
          <effort>114</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_larm'>
      <pose>0.05191 -0.58501 0.54045 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>2.509</mass>
        <inertia>
          <ixx>0.00265</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00446</iyy>
          <iyz>0</iyz>
          <izz>0.00446</izz>
        </inertia>
      </inertial>
      <collision name='r_larm_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_larm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_larm_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_larm.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_arm_elx' type='revolute'>
      <child>r_larm</child>
      <parent>r_uarm</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-2.35619</lower>
          <upper>0</upper>
          <effort>114</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_farm'>
      <pose>0.05191 -0.77201 0.53124 0 -0 0</pose>
      <inertial>
        <pose>0 0.065 0 0 -0 0</pose>
        <mass>3.388</mass>
        <inertia>
          <ixx>0.00656</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00358</iyy>
          <iyz>0</iyz>
          <izz>0.00656</izz>
        </inertia>
      </inertial>
      <collision name='r_farm_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_farm.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_farm_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_farm.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_arm_wry' type='revolute'>
      <child>r_farm</child>
      <parent>r_larm</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>3.14159</upper>
          <effort>114</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_hand'>
      <pose>0.05191 -0.89101 0.54045 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>2.509</mass>
        <inertia>
          <ixx>0.00265</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.00446</iyy>
          <iyz>0</iyz>
          <izz>0.00446</izz>
        </inertia>
      </inertial>
      <collision name='r_hand_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_hand.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_hand_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_hand.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_arm_wrx' type='revolute'>
      <child>r_hand</child>
      <parent>r_farm</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-1.1781</lower>
          <upper>1.1781</upper>
          <effort>60</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_uglut'>
      <pose>0 0.089 0 0 -0 0</pose>
      <inertial>
        <pose>0.00529262 -0.00344732 0.00313046 0 -0 0</pose>
        <mass>0.648</mass>
        <inertia>
          <ixx>0.00074276</ixx>
          <ixy>-3.79607e-08</ixy>
          <ixz>-2.79549e-05</ixz>
          <iyy>0.000688179</iyy>
          <iyz>-3.2735e-08</iyz>
          <izz>0.00041242</izz>
        </inertia>
      </inertial>
      <collision name='l_uglut_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_uglut.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_uglut_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_uglut.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_leg_hpz' type='revolute'>
      <child>l_uglut</child>
      <parent>pelvis</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-0.174533</lower>
          <upper>1.22173</upper>
          <effort>110</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_lglut'>
      <pose>0 0.089 0 0 -0 0</pose>
      <inertial>
        <pose>0.0133341 0.0170484 -0.0312052 0 -0 0</pose>
        <mass>0.866</mass>
        <inertia>
          <ixx>0.000691326</ixx>
          <ixy>-2.24344e-05</ixy>
          <ixz>2.50508e-06</ixz>
          <iyy>0.00126856</iyy>
          <iyz>0.000137862</iyz>
          <izz>0.00106487</izz>
        </inertia>
      </inertial>
      <collision name='l_lglut_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_lglut.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_lglut_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_lglut.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_leg_hpx' type='revolute'>
      <child>l_lglut</child>
      <parent>l_uglut</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.523599</lower>
          <upper>0.523599</upper>
          <effort>180</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_uleg'>
      <pose>0.05 0.089 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 -0.21 0 -0 0</pose>
        <mass>9.209</mass>
        <inertia>
          <ixx>0.09</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.09</iyy>
          <iyz>0</iyz>
          <izz>0.02</izz>
        </inertia>
      </inertial>
      <collision name='l_uleg_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_uleg.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_uleg_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_uleg.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_leg_hpy' type='revolute'>
      <child>l_uleg</child>
      <parent>l_lglut</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1.72072</lower>
          <upper>0.524821</upper>
          <effort>260</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_lleg'>
      <pose>0 0.089 -0.424 0 -0 0</pose>
      <inertial>
        <pose>0.001 0 -0.187 0 -0 0</pose>
        <mass>5.479</mass>
        <inertia>
          <ixx>0.077</ixx>
          <ixy>0</ixy>
          <ixz>-0.003</ixz>
          <iyy>0.076</iyy>
          <iyz>0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='l_lleg_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_lleg.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_lleg_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_lleg.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_leg_kny' type='revolute'>
      <child>l_lleg</child>
      <parent>l_uleg</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>2.38569</upper>
          <effort>220</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_talus'>
      <pose>0 0.089 -0.846 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.125</mass>
        <inertia>
          <ixx>1.01674e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>8.42775e-06</iyy>
          <iyz>0</iyz>
          <izz>1.30101e-05</izz>
        </inertia>
      </inertial>
      <collision name='l_talus_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_talus.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_talus_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_talus.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_leg_aky' type='revolute'>
      <child>l_talus</child>
      <parent>l_lleg</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1</lower>
          <upper>0.7</upper>
          <effort>700</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='l_foot'>
      <pose>0 0.089 -0.846 0 -0 0</pose>
      <inertial>
        <pose>0.027 0 -0.067 0 -0 0</pose>
        <mass>2.05</mass>
        <inertia>
          <ixx>0.002</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.007</iyy>
          <iyz>0</iyz>
          <izz>0.008</izz>
        </inertia>
      </inertial>
      <soft_shape>
        <total_mass>0.5</total_mass>
        <pose>0.05 0 -0.06 0 0 0</pose>
        <geometry>
          <box>
            <size>0.275 0.15 0.075</size>
            <frags>2 2 2</frags>
          </box>
        </geometry>
	<kv>50000.0</kv>
	<ke>100.0</ke>
	<damp>1000.0</damp>
      </soft_shape>
      <collision name='l_foot_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_foot.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='l_foot_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>l_foot.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='l_leg_akx' type='revolute'>
      <child>l_foot</child>
      <parent>l_talus</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.8</lower>
          <upper>0.8</upper>
          <effort>90</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_uglut'>
      <pose>0 -0.089 0 0 -0 0</pose>
      <inertial>
        <pose>0.00529262 0.00344732 0.00313046 0 -0 0</pose>
        <mass>0.648</mass>
        <inertia>
          <ixx>0.00074276</ixx>
          <ixy>3.79607e-08</ixy>
          <ixz>-2.79549e-05</ixz>
          <iyy>0.000688179</iyy>
          <iyz>3.2735e-08</iyz>
          <izz>0.00041242</izz>
        </inertia>
      </inertial>
      <collision name='r_uglut_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_uglut.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_uglut_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_uglut.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_leg_hpz' type='revolute'>
      <child>r_uglut</child>
      <parent>pelvis</parent>
      <axis>
        <xyz>0 0 1</xyz>
        <limit>
          <lower>-1.22173</lower>
          <upper>0.174533</upper>
          <effort>110</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_lglut'>
      <pose>0 -0.089 0 0 -0 0</pose>
      <inertial>
        <pose>0.0133341 -0.0170484 -0.0312052 0 -0 0</pose>
        <mass>0.866</mass>
        <inertia>
          <ixx>0.000691326</ixx>
          <ixy>2.24344e-05</ixy>
          <ixz>2.50508e-06</ixz>
          <iyy>0.00126856</iyy>
          <iyz>-0.000137862</iyz>
          <izz>0.00106487</izz>
        </inertia>
      </inertial>
      <collision name='r_lglut_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_lglut.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_lglut_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_lglut.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_leg_hpx' type='revolute'>
      <child>r_lglut</child>
      <parent>r_uglut</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.523599</lower>
          <upper>0.523599</upper>
          <effort>180</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_uleg'>
      <pose>0.05 -0.089 -0.05 0 -0 0</pose>
      <inertial>
        <pose>0 0 -0.21 0 -0 0</pose>
        <mass>9.209</mass>
        <inertia>
          <ixx>0.09</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.09</iyy>
          <iyz>0</iyz>
          <izz>0.02</izz>
        </inertia>
      </inertial>
      <collision name='r_uleg_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_uleg.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_uleg_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_uleg.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_leg_hpy' type='revolute'>
      <child>r_uleg</child>
      <parent>r_lglut</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1.72072</lower>
          <upper>0.524821</upper>
          <effort>260</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_lleg'>
      <pose>0 -0.089 -0.424 0 -0 0</pose>
      <inertial>
        <pose>0.001 0 -0.187 0 -0 0</pose>
        <mass>5.479</mass>
        <inertia>
          <ixx>0.077</ixx>
          <ixy>-0</ixy>
          <ixz>-0.003</ixz>
          <iyy>0.076</iyy>
          <iyz>-0</iyz>
          <izz>0.01</izz>
        </inertia>
      </inertial>
      <collision name='r_lleg_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_lleg.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_lleg_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_lleg.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_leg_kny' type='revolute'>
      <child>r_lleg</child>
      <parent>r_uleg</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>0</lower>
          <upper>2.38569</upper>
          <effort>220</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_talus'>
      <pose>0 -0.089 -0.846 0 -0 0</pose>
      <inertial>
        <pose>0 0 0 0 -0 0</pose>
        <mass>0.125</mass>
        <inertia>
          <ixx>1.01674e-05</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>8.42775e-06</iyy>
          <iyz>0</iyz>
          <izz>1.30101e-05</izz>
        </inertia>
      </inertial>
      <collision name='r_talus_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_talus.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_talus_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_talus.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_leg_aky' type='revolute'>
      <child>r_talus</child>
      <parent>r_lleg</parent>
      <axis>
        <xyz>0 1 0</xyz>
        <limit>
          <lower>-1</lower>
          <upper>0.7</upper>
          <effort>700</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
    <link name='r_foot'>
      <pose>0 -0.089 -0.846 0 -0 0</pose>
      <inertial>
        <pose>0.027 0 -0.067 0 -0 0</pose>
        <mass>2.05</mass>
        <inertia>
          <ixx>0.002</ixx>
          <ixy>0</ixy>
          <ixz>0</ixz>
          <iyy>0.007</iyy>
          <iyz>0</iyz>
          <izz>0.008</izz>
        </inertia>
      </inertial>
      <soft_shape>
        <total_mass>0.5</total_mass>
        <pose>0.05 0 -0.06 0 0 0</pose>
        <geometry>
          <box>
            <size>0.275 0.15 0.075</size>
            <frags>2 2 2</frags>
          </box>
        </geometry>
	<kv>50000.0</kv>
	<ke>100.0</ke>
	<damp>1000.0</damp>
      </soft_shape>
      <collision name='r_foot_collision'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_foot.stl</uri>
          </mesh>
        </geometry>
      </collision>
      <visual name='r_foot_visual'>
        <pose>0 0 0 0 -0 0</pose>
        <geometry>
          <mesh>
            <scale>1 1 1</scale>
            <uri>r_foot.dae</uri>
          </mesh>
        </geometry>
      </visual>
      <velocity_decay>
        <linear>0</linear>
        <angular>0</angular>
      </velocity_decay>
    </link>
    <joint name='r_leg_akx' type='revolute'>
      <child>r_foot</child>
      <parent>r_talus</parent>
      <axis>
        <xyz>1 0 0</xyz>
        <limit>
          <lower>-0.8</lower>
          <upper>0.8</upper>
          <effort>90</effort>
          <velocity>12</velocity>
        </limit>
        <dynamics>
          <damping>0.1</damping>
        </dynamics>
        <use_parent_model_frame>0</use_parent_model_frame>
      </axis>
    </joint>
  </model>
</sdf>
