<?xml version="1.0" ?>
<robot name="rx1" version="1.0">
  <material name="red">
    <color rgba="1.0 0.0 0.0 1.0"/>
  </material>
  <material name="white">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.0 0.0 1.0 1.0"/>
  </material>
  <link name="base_link">
    <inertial>
      <mass value="5.0"/>
      <inertia ixx="0.1479926256185778" ixy="0.0" ixz="0.0" iyy="0.1480031283986734" iyz="0.0" izz="0.013240506334916875"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_mjcf/base_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="meshes_mjcf/base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="torso_yaw_link">
    <inertial>
      <mass value="5.0"/>
      <inertia ixx="0.044260708541198714" ixy="0.0" ixz="0.0" iyy="0.03589014892499002" iyz="0.0" izz="0.018270645342993348"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/torso_yaw_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/torso_yaw_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="base2torso_yaw_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.5825"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="base_link"/>
    <child link="torso_yaw_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.5" friction="5.0"/>
  </joint>
  <link name="torso_pitch_link">
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="6.5625e-05" ixy="0.0" ixz="0.0" iyy="6.5625e-05" iyz="0.0" izz="5.625e-05"/>
    </inertial>
    <visual>
      <origin rpy="1.57075 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.015"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="1.57075 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="torso_yaw2pitch_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.15"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="torso_yaw_link"/>
    <child link="torso_pitch_link"/>
    <limit effort="50.0" lower="-0.785375" upper="0.785375" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="torso_roll_link">
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="6.5625e-05" ixy="0.0" ixz="0.0" iyy="6.5625e-05" iyz="0.0" izz="5.625e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.015"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="torso_pitch2roll_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="torso_pitch_link"/>
    <child link="torso_roll_link"/>
    <limit effort="50.0" lower="-0.785375" upper="0.785375" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="torso_link">
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.00839643176338393" ixy="0.0" ixz="0.0" iyy="0.003718667304595339" iyz="0.0" izz="0.005448431209219654"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/torso_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/torso_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="torso_roll2torso_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.08"/>
    <parent link="torso_roll_link"/>
    <child link="torso_link"/>
  </joint>
  <link name="head_base_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="3.4733338386813986e-05" ixy="0.0" ixz="0.0" iyy="2.3066669137279266e-05" iyz="0.0" izz="4.1666671633720553e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/head_base_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/head_base_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="torso2head_base_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.21"/>
    <parent link="torso_link"/>
    <child link="head_base_link"/>
  </joint>
  <link name="neck_yaw_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="2.6332792163843353e-05" ixy="0.0" ixz="0.0" iyy="3.551715988694438e-05" iyz="0.0" izz="2.3884367326730143e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/neck_yaw_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/neck_yaw_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_base2neck_yaw_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="head_base_link"/>
    <child link="neck_yaw_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="neck_pitch_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="9.366899537678521e-05" ixy="0.0" ixz="0.0" iyy="9.765486239335953e-05" iyz="0.0" izz="2.9194203491569232e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/neck_pitch_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/neck_pitch_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="neck_yaw2pitch_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.035"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="neck_yaw_link"/>
    <child link="neck_pitch_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="head_depth_cam_mount_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="0.00011445736975046934" ixy="0.0" ixz="0.0" iyy="4.306387919284874e-05" iyz="0.0" izz="0.00011610652434354089"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/head_depth_cam_mount_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/head_depth_cam_mount_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="neck_pitch2head_depth_cam_mount_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="-0.01 0.0 0.1"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="neck_pitch_link"/>
    <child link="head_depth_cam_mount_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <link name="camera_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="8.333333333333333e-07" ixy="0.0" ixz="0.0" iyy="8.333333333333333e-07" iyz="0.0" izz="8.333333333333333e-07"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_depth_cam_mount2camera_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.05 0.0 0.03"/>
    <parent link="head_depth_cam_mount_link"/>
    <child link="camera_link"/>
  </joint>
  <link name="right_ear_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="7.075414581789501e-05" ixy="0.0" ixz="0.0" iyy="7.708227986119268e-05" iyz="0.0" izz="7.00313496307216e-06"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/right_ear_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/right_ear_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_depth_cam_mount2right_ear_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.065 0.045"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="head_depth_cam_mount_link"/>
    <child link="right_ear_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <link name="left_ear_link">
    <inertial>
      <mass value="0.05"/>
      <inertia ixx="7.075414588774426e-05" ixy="0.0" ixz="0.0" iyy="7.708227861952545e-05" iyz="0.0" izz="7.003133791254161e-06"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/left_ear_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/head/left_ear_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_depth_cam_mount2left_ear_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.065 0.045"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="head_depth_cam_mount_link"/>
    <child link="left_ear_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.0"/>
  </joint>
  <link name="right_shoul_base_link">
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.00011374999999999999" ixy="0.0" ixz="0.0" iyy="0.00011374999999999999" iyz="0.0" izz="4e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0375"/>
      <geometry>
        <cylinder length="0.075" radius="0.02"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0375"/>
      <geometry>
        <cylinder length="0.075" radius="0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_base2right_shoul_base_joint" type="fixed">
    <origin rpy="1.04706195 0.0 0.0" xyz="0.0 -0.12 -0.05"/>
    <parent link="head_base_link"/>
    <child link="right_shoul_base_link"/>
  </joint>
  <link name="right_shoul_link">
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.00015166666666666668" ixy="0.0" ixz="0.0" iyy="0.00015166666666666668" iyz="0.0" izz="9e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.04"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.04"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoul_base2shoul_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.075"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="right_shoul_base_link"/>
    <child link="right_shoul_link"/>
    <limit effort="50.0" lower="-2.5132000000000003" upper="2.5132000000000003" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="right_shoul_rot_link">
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="7.166666666666667e-05" ixy="0.0" ixz="0.0" iyy="7.166666666666667e-05" iyz="0.0" izz="9e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.04" radius="0.03"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.04" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoul2shoul_rot_joint" type="revolute">
    <origin rpy="-1.04706195 0.0 0.0" xyz="0.0 0.0 0.08"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="right_shoul_link"/>
    <child link="right_shoul_rot_link"/>
    <limit effort="50.0" lower="-1.57075" upper="0.5026400000000001" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="right_upper_arm_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.00026469309370525756" ixy="0.0" ixz="0.0" iyy="0.000295128481794064" iyz="0.0" izz="9.863136459929792e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/right_arm/right_upper_arm_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/right_arm/right_upper_arm_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoul_rot2upper_arm_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.0625"/>
    <parent link="right_shoul_rot_link"/>
    <child link="right_upper_arm_link"/>
  </joint>
  <link name="right_armrot_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000573437191095085" ixy="0.0" ixz="0.0" iyy="0.0005528666733185454" iyz="0.0" izz="8.463719774696362e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.11"/>
      <geometry>
        <mesh filename="meshes_mjcf/right_arm/right_elbow_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.11"/>
      <geometry>
        <cylinder length="0.22" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_arm2armrot_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.0625"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="right_upper_arm_link"/>
    <child link="right_armrot_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="right_elbow_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="7.583333333333334e-05" ixy="0.0" ixz="0.0" iyy="7.583333333333334e-05" iyz="0.0" izz="4.5e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 1.57075 -1.57075" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 1.57075 -1.57075" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_armrot2elbow_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.22"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="right_armrot_link"/>
    <child link="right_elbow_link"/>
    <limit effort="50.0" lower="-2.19905" upper="0.0" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="right_forearm_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="9e-05" ixy="0.0" ixz="0.0" iyy="9e-05" iyz="0.0" izz="4.5e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.09" radius="0.03"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.09" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_elbow2forearm_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.045"/>
    <parent link="right_elbow_link"/>
    <child link="right_forearm_link"/>
  </joint>
  <link name="right_forearmrot_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.00038840639708807395" ixy="0.0" ixz="0.0" iyy="0.00039995180679971244" iyz="0.0" izz="0.00011242609109381833"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.09"/>
      <geometry>
        <mesh filename="meshes_mjcf/right_arm/right_forearm_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.09"/>
      <geometry>
        <cylinder length="0.18" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_forearm2forearmrot_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.045"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="right_forearm_link"/>
    <child link="right_forearmrot_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="right_forearm_pitch_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.3125e-05" ixy="0.0" ixz="0.0" iyy="1.3125e-05" iyz="0.0" izz="1.125e-05"/>
    </inertial>
    <visual>
      <origin rpy="1.57075 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.015"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="1.57075 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_forearmrot2forearm_pitch_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.18"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="right_forearmrot_link"/>
    <child link="right_forearm_pitch_link"/>
    <limit effort="50.0" lower="-0.785375" upper="0.785375" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="right_forearm_roll_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.3125e-05" ixy="0.0" ixz="0.0" iyy="1.3125e-05" iyz="0.0" izz="1.125e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.015"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_forearm_pitch2forearm_roll_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="right_forearm_pitch_link"/>
    <child link="right_forearm_roll_link"/>
    <limit effort="50.0" lower="-0.785375" upper="0.785375" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="right_hand_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.00037829940287649005" ixy="0.0" ixz="0.0" iyy="0.00038270930455677987" iyz="0.0" izz="0.00012288547830465965"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/right_arm/right_hand_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.02 0.12"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_forearm_roll2hand_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.1"/>
    <parent link="right_forearm_roll_link"/>
    <child link="right_hand_link"/>
  </joint>
  <link name="left_shoul_base_link">
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.00011374999999999999" ixy="0.0" ixz="0.0" iyy="0.00011374999999999999" iyz="0.0" izz="4e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0375"/>
      <geometry>
        <cylinder length="0.075" radius="0.02"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0375"/>
      <geometry>
        <cylinder length="0.075" radius="0.02"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_base2left_shoul_base_joint" type="fixed">
    <origin rpy="-1.04706195 0.0 0.0" xyz="0.0 0.12 -0.05"/>
    <parent link="head_base_link"/>
    <child link="left_shoul_base_link"/>
  </joint>
  <link name="left_shoul_link">
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.00015166666666666668" ixy="0.0" ixz="0.0" iyy="0.00015166666666666668" iyz="0.0" izz="9e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.04"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.04"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoul_base2shoul_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.075"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="left_shoul_base_link"/>
    <child link="left_shoul_link"/>
    <limit effort="50.0" lower="-2.5132000000000003" upper="2.5132000000000003" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="left_shoul_rot_link">
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="7.166666666666667e-05" ixy="0.0" ixz="0.0" iyy="7.166666666666667e-05" iyz="0.0" izz="9e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.04" radius="0.03"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.04" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoul2shoul_rot_joint" type="revolute">
    <origin rpy="1.04706195 0.0 0.0" xyz="0.0 0.0 0.08"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="left_shoul_link"/>
    <child link="left_shoul_rot_link"/>
    <limit effort="50.0" lower="-0.5026400000000001" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.5" friction="0.1"/>
  </joint>
  <link name="left_upper_arm_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.00026469309370525756" ixy="0.0" ixz="0.0" iyy="0.000295128481794064" iyz="0.0" izz="9.863136459929792e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/left_arm/left_upper_arm_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/left_arm/left_upper_arm_link.stl"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoul_rot2upper_arm_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.0625"/>
    <parent link="left_shoul_rot_link"/>
    <child link="left_upper_arm_link"/>
  </joint>
  <link name="left_armrot_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000573437191095085" ixy="0.0" ixz="0.0" iyy="0.0005528666771680125" iyz="0.0" izz="8.463720159643078e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.11"/>
      <geometry>
        <mesh filename="meshes_mjcf/left_arm/left_elbow_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.11"/>
      <geometry>
        <cylinder length="0.22" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_arm2armrot_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.0625"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="left_upper_arm_link"/>
    <child link="left_armrot_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="left_elbow_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="7.583333333333334e-05" ixy="0.0" ixz="0.0" iyy="7.583333333333334e-05" iyz="0.0" izz="4.5e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 -1.57075 -1.57075" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="0.0 -1.57075 -1.57075" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.08" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_armrot2elbow_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.22"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="left_armrot_link"/>
    <child link="left_elbow_link"/>
    <limit effort="50.0" lower="-2.19905" upper="0.0" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="left_forearm_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="9e-05" ixy="0.0" ixz="0.0" iyy="9e-05" iyz="0.0" izz="4.5e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.09" radius="0.03"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.09" radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_elbow2forearm_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.045"/>
    <parent link="left_elbow_link"/>
    <child link="left_forearm_link"/>
  </joint>
  <link name="left_forearmrot_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.00038840639708807395" ixy="0.0" ixz="0.0" iyy="0.00039995180679971244" iyz="0.0" izz="0.00011242609109381833"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.09"/>
      <geometry>
        <mesh filename="meshes_mjcf/left_arm/left_forearm_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.09"/>
      <geometry>
        <cylinder length="0.18" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_forearm2forearmrot_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.045"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="left_forearm_link"/>
    <child link="left_forearmrot_link"/>
    <limit effort="50.0" lower="-1.57075" upper="1.57075" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="left_forearm_pitch_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.3125e-05" ixy="0.0" ixz="0.0" iyy="1.3125e-05" iyz="0.0" izz="1.125e-05"/>
    </inertial>
    <visual>
      <origin rpy="-1.57075 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.015"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <origin rpy="-1.57075 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_forearmrot2forearm_pitch_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.18"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="left_forearmrot_link"/>
    <child link="left_forearm_pitch_link"/>
    <limit effort="50.0" lower="-0.785375" upper="0.785375" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="left_forearm_roll_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="1.3125e-05" ixy="0.0" ixz="0.0" iyy="1.3125e-05" iyz="0.0" izz="1.125e-05"/>
    </inertial>
    <visual>
      <origin rpy="0.0 -1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.015"/>
      </geometry>
      <material name="red"/>
    </visual>
    <collision>
      <origin rpy="0.0 -1.57075 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <cylinder length="0.03" radius="0.01"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_forearm_pitch2forearm_roll_joint" type="revolute">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    <axis xyz="1.0 0.0 0.0"/>
    <parent link="left_forearm_pitch_link"/>
    <child link="left_forearm_roll_link"/>
    <limit effort="50.0" lower="-0.785375" upper="0.785375" velocity="15.0"/>
    <dynamics damping="0.1" friction="0.1"/>
  </joint>
  <link name="left_hand_link">
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.000378299413346062" ixy="0.0" ixz="0.0" iyy="0.00038270929370450474" iyz="0.0" izz="0.00012288547792195653"/>
    </inertial>
    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="meshes_mjcf/left_arm/left_hand_link.stl"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.04 0.02 0.12"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_forearm_roll2hand_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.1"/>
    <parent link="left_forearm_roll_link"/>
    <child link="left_hand_link"/>
  </joint>
</robot>