icub.urdf

<robot name="iCubGazeboV2_5">
  <link name="root_link">
    <inertial>
      <origin xyz="0.0248821 0.000103947 -0.0440806"
              rpy="1.57079632679 0 -1.57079632679"/>
      <mass value="5.09143"/>
      <inertia ixx="0.0139679" ixy="-5.93488e-06" ixz="-1.55458e-05" iyy="0.0202112"
               iyz="-0.00170968" izz="0.0249124"/>
    </inertial>
    <visual>
      <origin xyz="-0.0364 0 0.032" rpy="1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.0364 0 0.032" rpy="1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="r_hip_1">
    <inertial>
      <origin xyz="-0.0005145 -0.0380753 -7.1e-05"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="0.919978"/>
      <inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06"
               iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
    </inertial>
    <visual>
      <origin xyz="0.0428515000001 0.026 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0428515000001 0.026 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_hip_pitch" type="revolute">
    <origin xyz="0.0064515 0.026 -0.119913" rpy="0 0 -3.14159265359"/>
    <axis xyz="-2.22044604925e-16 -1.0 0.0"/>
    <parent link="root_link"/>
    <child link="r_hip_1"/>
    <limit effort="55.5" lower="-0.785398163397" upper="2.33874119767"
           velocity="5.1"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_hip_2">
    <inertial>
      <origin xyz="-0.0009315 8.09999999998e-06 -0.044809"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="0.413242"/>
      <inertia ixx="0.00046914" ixy="-4.76597e-08" ixz="7.12496e-08"
               iyy="0.000277108" iyz="3.3401e-06" izz="0.000303891"/>
    </inertial>
    <visual>
      <origin xyz="0.0428514998094 0.0701 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0428514998094 0.0701 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_hip_roll" type="revolute">
    <origin xyz="0 -0.0441 0" rpy="0 0 0"/>
    <axis xyz="-1.0 0.0 -2.22044604925e-16"/>
    <parent link="r_hip_1"/>
    <child link="r_hip_2"/>
    <limit effort="37.0" lower="-0.349065850399" upper="2.09439510239"
           velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_hip_3">
    <inertial>
      <origin xyz="-0.000123 -0.0002823 0.008718"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <mass value="0.126212"/>
      <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01"
               iyz="3.32338e-08" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0437090152 -0.0700999919 -0.226213"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437090152 -0.0700999919 -0.226213"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_leg_ft_sensor" type="fixed">
    <origin xyz="-0.0009363 1.39e-05 -0.0743" rpy="3.14159265359 0 0"/>
    <parent link="r_hip_2"/>
    <child link="r_hip_3"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="r_upper_leg">
    <inertial>
      <origin xyz="0.0034 -2.91e-05 -0.078954" rpy="1.57079632679 0 1.57079632679"/>
      <mass value="1.8035"/>
      <inertia ixx="0.00647751422999" ixy="0.000129579429588"
               ixz="5.48205094739e-06" iyy="0.0014593786411"
               iyz="-0.000136613086875" izz="0.00646720823813"/>
    </inertial>
    <visual>
      <origin xyz="0.0437090152 0.0700999919 0.240813"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="yellow">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437090152 0.0700999919 0.240813"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_hip_yaw" type="revolute">
    <origin xyz="0 0 0.0144" rpy="-3.14159265359 0 0"/>
    <axis xyz="0.0 -2.22044604925e-16 -1.0"/>
    <parent link="r_hip_3"/>
    <child link="r_upper_leg"/>
    <limit effort="37.0" lower="-1.3962634016" upper="1.3962634016" velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_upper_leg_back_contact"/>
  <joint name="r_upper_leg_back_contact_fixed_joint" type="fixed">
    <origin xyz="-0.0511998 0 0.0146" rpy="0 1.57079632679 0"/>
    <parent link="r_upper_leg"/>
    <child link="r_upper_leg_back_contact"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="r_upper_leg_dh_frame"/>
  <joint name="r_upper_leg_dh_frame_fixed_joint" type="fixed">
    <origin xyz="0 0 -0.145825" rpy="1.57079632679 0 0"/>
    <parent link="r_upper_leg"/>
    <child link="r_upper_leg_dh_frame"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="r_lower_leg">
    <inertial>
      <origin xyz="0.0012364 -0.0035131 -0.088794"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="1.472"/>
      <inertia ixx="0.00423993167478" ixy="0.000228814548854"
               ixz="-5.55646459453e-05" iyy="0.00152095043447"
               iyz="-0.000264132979243" izz="0.00457358584206"/>
    </inertial>
    <visual>
      <origin xyz="0.0437090152 0.070099992 0.386638"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="pink">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437090152 0.070099992 0.386638"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_knee" type="revolute">
    <origin xyz="0 0 -0.145825" rpy="0 0 0"/>
    <axis xyz="-2.22044604925e-16 -1.0 0.0"/>
    <parent link="r_upper_leg"/>
    <child link="r_lower_leg"/>
    <limit effort="37.0" lower="-2.16420827247" upper="0.0698131700798"
           velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_ankle_1">
    <inertial>
      <origin xyz="0.0151436 -0.0008686 4.2e-05"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="0.6803"/>
      <inertia ixx="0.000404618848932" ixy="7.49819286945e-07"
               ixz="-3.01349467691e-05" iyy="0.000448633654664"
               iyz="2.5726697409e-06" izz="0.000308235939139"/>
    </inertial>
    <visual>
      <origin xyz="0.0437090152 0.070099992 0.587138"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="cyan">
        <color rgba="0 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437090152 0.070099992 0.587138"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_ankle_pitch" type="revolute">
    <origin xyz="0 0 -0.2005" rpy="0 0 0"/>
    <axis xyz="2.22044604925e-16 1.0 0.0"/>
    <parent link="r_lower_leg"/>
    <child link="r_ankle_1"/>
    <limit effort="37.0" lower="-0.610865238198" upper="0.610865238198"
           velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_ankle_2">
    <inertial>
      <origin xyz="0.0011446 3.59999999999e-06 -0.03852"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="0.265122"/>
      <inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01"
               iyz="-4.29975e-06" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0437877996186 0.0700861001907 0.587138"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437877996186 0.0700861001907 0.587138"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_ankle_roll" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="-1.0 0.0 -2.22044604925e-16"/>
    <parent link="r_ankle_1"/>
    <child link="r_ankle_2"/>
    <limit effort="37.0" lower="-0.436332312999" upper="0.436332312999"
           velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_foot">
    <inertial>
      <origin xyz="0.0336001 0.0053719 -0.001147"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <mass value="0.382866"/>
      <inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05"
               iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
    </inertial>
    <visual>
      <origin xyz="0.047209015 -0.070099992 -0.647438000286"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.03 0.005 0.014" rpy="0.0 0.0 0.0"/>
      <geometry>
        <box size="0.16 0.072 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_foot_ft_sensor" type="fixed">
    <origin xyz="-0.0035 0 -0.0605" rpy="3.14159265359 0 0"/>
    <parent link="r_ankle_2"/>
    <child link="r_foot"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="r_sole"/>
  <joint name="r_sole_fixed_joint" type="fixed">
    <origin xyz="0.0035 0 0.004" rpy="-3.14159265359 0 0"/>
    <parent link="r_foot"/>
    <child link="r_sole"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_hip_1">
    <inertial>
      <origin xyz="-0.0005108 0.0380923 -8.3e-05"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="0.919725"/>
      <inertia ixx="0.000404539" ixy="1.18502e-06" ixz="-9.64514e-07"
               iyy="0.000573315" iyz="-1.06028e-06" izz="0.000578982"/>
    </inertial>
    <visual>
      <origin xyz="0.0428515000001 -0.026 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dblue">
        <color rgba="0 0 0.8 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0428515000001 -0.026 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_hip_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_hip_pitch" type="revolute">
    <origin xyz="0.0064515 -0.026 -0.119913" rpy="0 0 -3.14159265359"/>
    <axis xyz="-2.22044604925e-16 -1.0 0.0"/>
    <parent link="root_link"/>
    <child link="l_hip_1"/>
    <limit effort="55.5" lower="-0.785398163397" upper="2.33874119767"
           velocity="5.1"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_hip_2">
    <inertial>
      <origin xyz="-0.0011063 1.73e-05 -0.044574"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="0.415987"/>
      <inertia ixx="0.000475741" ixy="2.89355e-07" ixz="-6.72876e-08"
               iyy="0.000279828" iyz="6.7417e-06" izz="0.000307828"/>
    </inertial>
    <visual>
      <origin xyz="0.0428514998093 -0.0701 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dgreen">
        <color rgba="0.1 0.8 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0428514998093 -0.0701 0.151913"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_hip_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_hip_roll" type="revolute">
    <origin xyz="0 0.0441 0" rpy="0 0 0"/>
    <axis xyz="1.0 0.0 2.22044604925e-16"/>
    <parent link="l_hip_1"/>
    <child link="l_hip_2"/>
    <limit effort="37.0" lower="-0.349065850399" upper="2.09439510239"
           velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_hip_3">
    <inertial>
      <origin xyz="-0.0001229 -0.0002823 0.008718"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <mass value="0.126212"/>
      <inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01"
               iyz="3.32338e-08" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0437090614 0.0701000246 -0.226213"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="gray">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437090614 0.0701000246 -0.226213"
              rpy="-1.57079632679 0 -1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_upper_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_leg_ft_sensor" type="fixed">
    <origin xyz="-0.0008302 7.52e-05 -0.0743" rpy="3.14159265359 0 0"/>
    <parent link="l_hip_2"/>
    <child link="l_hip_3"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_upper_leg">
    <inertial>
      <origin xyz="0.0033869 0.0001018 -0.078916"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="1.8084"/>
      <inertia ixx="0.00648512673084" ixy="-0.00012421121424"
               ixz="-3.97399421479e-06" iyy="0.00146250529833"
               iyz="-0.00013681806888" izz="0.00647619242046"/>
    </inertial>
    <visual>
      <origin xyz="0.0437090614 -0.0701000246 0.240813"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0437090614 -0.0701000246 0.240813"
              rpy="1.57079632679 0 1.57079632679"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_thigh_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_hip_yaw" type="revolute">
    <origin xyz="0 0 0.0144" rpy="-3.14159265359 0 0"/>
    <axis xyz="0.0 2.22044604925e-16 1.0"/>
    <parent link="l_hip_3"/>
    <child link="l_upper_leg"/>
    <limit effort="37.0" lower="-1.3962634016" upper="1.3962634016" velocity="7.64"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_upper_leg_back_contact"/>
  <joint name="l_upper_leg_back_contact_fixed_joint" type="fixed">
    <origin xyz="-0.0512567 0 0.0146" rpy="0 1.57079632679 0"/>
    <parent link="l_upper_leg"/>
    <child link="l_upper_leg_back_contact"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_upper_leg_dh_frame"/>
  <joint name="l_upper_leg_dh_frame_fixed_joint" type="fixed">
    <origin xyz="0 0 -0.145825" rpy="1.57079632679 0 0"/>
    <parent link="l_upper_leg"/>
    <child link="l_upper_leg_dh_frame"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_lower_leg">
    <inertial>
      <origin xyz="0.0009998 0.0034969 -0.088567"
              rpy="1.57079632679 0 1.57079632679"/>
      <mass value="1.4724"/>
      <inertia ixx="0.00423698606499" ixy="-0.000239615181423"
               ixz="6.76166218238e-05" iyy="0.00152221313636"
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    <origin xyz="0 0 -0.2005" rpy="0 0 0"/>
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    <child link="l_ankle_1"/>
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           velocity="7.64"/>
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      <origin xyz="0.0011447 3.59999999998e-06 -0.03852"
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        <color rgba="0 0 1 1"/>
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    <child link="l_ankle_2"/>
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      <material name="yellow">
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      <origin xyz="0.03 -0.005 0.014" rpy="0.0 0.0 0.0"/>
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    <child link="l_foot"/>
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  <link name="l_sole"/>
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    <origin xyz="0.0035 0 0.004" rpy="-3.14159265359 0 0"/>
    <parent link="l_foot"/>
    <child link="l_sole"/>
    <dynamics damping="0.1"/>
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      <origin xyz="0.0270921359 0.02914798 -0.0004398" rpy="0 0 0"/>
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      <inertia ixx="0.00040911" ixy="-1.04522e-06" ixz="-1.02516e-06"
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      <origin xyz="0.0270462998093 0.032 0.0364" rpy="0 0 0"/>
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      <material name="pink">
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      <origin xyz="-0.000113507809265 0.0361525 0.0570963" rpy="0 0 0"/>
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      <material name="cyan">
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      <origin xyz="0.000188619190735 0.073091 -0.0472381" rpy="0 0 0"/>
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      <origin xyz="0 0.0928 -0.024189" rpy="0 0 0"/>
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        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl"
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    <origin xyz="0 0.05 0.0628421" rpy="0 0 0"/>
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    <child link="chest"/>
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      <origin xyz="-0.0122656014133 3.2e-05 -0.00321064290449" rpy="0 0 0"/>
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        <color rgba="1 1 1 1"/>
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      <origin xyz="-0.0214141709438 0.000271725272551 -0.0194402344535"
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      <origin xyz="0.106587808568 2.31914715418e-07 -0.0407392121175" rpy="0 0 0"/>
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      <origin xyz="-0.0267620766871 -6.99999999998e-06 0.0146999207713"
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      <origin xyz="0.131933879164 0 -0.0353515667647" rpy="0 0 0"/>
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      <origin xyz="-0.006087 0.000126 0.0293121" rpy="0 1.30899700697 0"/>
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      <origin xyz="-0.00673912932843 0.0188019 -0.00465769236154" rpy="0 0 0"/>
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      <origin xyz="0.259390463317 0.0224999 -0.0850325886962" rpy="0 0 0"/>
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      <origin xyz="-0.0404391133886 -0.000328 0.00532733448387" rpy="0 0 0"/>
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      <origin xyz="0.296886967375 0 -0.0795506015227" rpy="0 0 0"/>
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    <parent link="r_forearm"/>
    <child link="r_forearm_dh_frame"/>
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      <origin xyz="0.000986101955547 -0.001176 0.00410132736724" rpy="0 0 0"/>
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      <origin xyz="0.400392176248 -7.00000000009e-06 -0.104748304516" rpy="0 0 0"/>
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        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_wrist_pitch_prt-binary.stl"
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  <joint name="r_wrist_pitch" type="revolute">
    <origin xyz="-0.103505208873 7.00000000002e-06 0.0251977029936" rpy="0 0 0"/>
    <axis xyz="0.258818979447 0.0 0.965925843882"/>
    <parent link="r_forearm"/>
    <child link="r_wrist_1"/>
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           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
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  <link name="r_hand">
    <inertial>
      <origin xyz="-0.064668163717 0.0056002 0.0226812940918" rpy="0 0 0"/>
      <mass value="0.248289"/>
      <inertia ixx="0.01" ixy="-2.3536e-06" ixz="3.61526e-05" iyy="0.01"
               iyz="2.07146e-05" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.399758069749 0.0194929 -0.107114822834" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_hand_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="blue">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.399758069749 0.0194929 -0.107114822834" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_r_hand_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="r_wrist_yaw" type="revolute">
    <origin xyz="0.000634106499644 -0.0194999 0.00236651831751" rpy="0 0 0"/>
    <axis xyz="2.22044604925e-16 1.0 0.0"/>
    <parent link="r_wrist_1"/>
    <child link="r_hand"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.436332312999"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="r_hand_dh_frame"/>
  <joint name="r_hand_dh_frame_fixed_joint" type="fixed">
    <origin xyz="-0.0576542978428 -0.0055568 0.0136938323083"
            rpy="-1.57079632679 -0.261799319827 3.14159265359"/>
    <parent link="r_hand"/>
    <child link="r_hand_dh_frame"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_shoulder_1">
    <inertial>
      <origin xyz="-0.008985 -3.3e-05 -0.0088998" rpy="0 0 0"/>
      <mass value="0.114882"/>
      <inertia ixx="0.01" ixy="-1.77064e-08" ixz="3.55951e-06" iyy="0.01"
               iyz="6.57597e-08" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.120257482 0 -0.032223" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_shoulder_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="yellow">
        <color rgba="1 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.120257482 0 -0.032223" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_shoulder_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_pitch" type="revolute">
    <origin xyz="0.120016000191 0.0928 0.0079693" rpy="0 0 0"/>
    <axis xyz="0.965926 0.0 0.258819"/>
    <parent link="chest"/>
    <child link="l_shoulder_1"/>
    <limit effort="50000" lower="-1.66678943565" upper="0.174532925199"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_shoulder_2">
    <inertial>
      <origin xyz="0.0214745951272 0.000268957899687 -0.0194107361535" rpy="0 0 0"/>
      <mass value="0.238162"/>
      <inertia ixx="0.01" ixy="1.19701e-07" ixz="-1.29687e-05" iyy="0.01"
               iyz="1.20112e-06" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.106586691581 1.10800934344e-07 -0.040743380771" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="pink">
        <color rgba="1 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.106586691581 1.10800934344e-07 -0.040743380771" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_shoulder_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_roll" type="revolute">
    <origin xyz="-0.013671 0 0.0085204"
            rpy="0.270597317916 0.252680177542 -1.50155688559"/>
    <axis xyz="-0.258819 2.77555756156e-17 0.965926"/>
    <parent link="l_shoulder_1"/>
    <child link="l_shoulder_2"/>
    <limit effort="50000" lower="0.0" upper="2.80648943721" velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_shoulder_3">
    <inertial>
      <origin xyz="0.026798412222 -1.6e-05 0.0146956806177" rpy="0 0 0"/>
      <mass value="0.35913"/>
      <inertia ixx="0.01" ixy="-2.22441e-07" ixz="-4.95846e-05" iyy="0.01"
               iyz="1.07538e-07" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.131901037685 0 -0.0353427669194" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_upper_arm_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="cyan">
        <color rgba="0 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.131901037685 0 -0.0353427669194" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_upper_arm_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_shoulder_yaw" type="revolute">
    <origin xyz="0.0253143468312 1.11636438205e-07 -0.00540061656265"
            rpy="-0.252689546175 -0.0085186183214 -0.067039889142"/>
    <axis xyz="0.965925843882 2.22044604925e-16 0.258818979447"/>
    <parent link="l_shoulder_2"/>
    <child link="l_shoulder_3"/>
    <limit effort="50000" lower="-0.645771823238" upper="1.3962634016"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_upper_arm">
    <inertial>
      <origin xyz="-0.006121 -0.000189 0.0293684"
              rpy="0 -1.30899700697 -3.14159265359"/>
      <mass value="0.746799"/>
      <inertia ixx="0.000509731" ixy="-6.90767e-07" ixz="1.20048e-05"
               iyy="0.00067086" iyz="3.11833e-06" izz="0.000601202"/>
    </inertial>
    <visual>
      <origin xyz="-0.015 0 -0.1933" rpy="0 -1.30899700697 -3.14159265359"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_elbow_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.015 0 -0.1933" rpy="0 -1.30899700697 -3.14159265359"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_elbow_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_arm_ft_sensor" type="fixed">
    <origin xyz="0.0509301432452 0 0.0291758294659"
            rpy="0 -1.30899700697 3.14159265359"/>
    <parent link="l_shoulder_3"/>
    <child link="l_upper_arm"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_elbow_1">
    <inertial>
      <origin xyz="0.00673912932843 0.0303019 -0.00465769236154" rpy="0 0 0"/>
      <mass value="0.267903"/>
      <inertia ixx="0.01" ixy="-7.37159e-06" ixz="1.04505e-05" iyy="0.01"
               iyz="3.9319e-06" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.259390463317 0.0339999 -0.0850325886962" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_elbow_prosup_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.259390463317 0.0339999 -0.0850325886962" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_elbow_prosup_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_elbow" type="revolute">
    <origin xyz="0 0.0339999 0.07926" rpy="0 -1.30899700697 -3.14159265359"/>
    <axis xyz="2.22044604925e-16 -1.0 0.0"/>
    <parent link="l_upper_arm"/>
    <child link="l_elbow_1"/>
    <limit effort="50000" lower="0.261799387799" upper="1.85004900711"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_forearm">
    <inertial>
      <origin xyz="0.0404511828823 -0.000686 0.00532363214379" rpy="0 0 0"/>
      <mass value="0.636185"/>
      <inertia ixx="0.000371447" ixy="4.34562e-06" ixz="-0.000105871"
               iyy="0.000674229" iyz="4.05222e-06" izz="0.000557115"/>
    </inertial>
    <visual>
      <origin xyz="-0.296886967375 0 -0.0795506015227" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_forearm_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dblue">
        <color rgba="0 0 0.8 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.296886967375 0 -0.0795506015227" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_forearm_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_prosup" type="revolute">
    <origin xyz="0.0384624299027 0.0339999 -0.00522316819403" rpy="0 0 0"/>
    <axis xyz="0.965925843882 2.22044604925e-16 0.258818979447"/>
    <parent link="l_elbow_1"/>
    <child link="l_forearm"/>
    <limit effort="50000" lower="-1.0471975512" upper="1.0471975512"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_forearm_dh_frame"/>
  <joint name="l_forearm_dh_frame_fixed_joint" type="fixed">
    <origin xyz="0.102871102373 7.00000000002e-06 0.0275642213111"
            rpy="2.87979333376 0 1.57079632679"/>
    <parent link="l_forearm"/>
    <child link="l_forearm_dh_frame"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="l_wrist_1">
    <inertial>
      <origin xyz="-0.000981313804428 -0.001178 0.00408345773913" rpy="0 0 0"/>
      <mass value="0.0362152"/>
      <inertia ixx="0.01" ixy="3.08362e-08" ixz="9.42153e-07" iyy="0.01"
               iyz="-1.58924e-07" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.400314530555 -7.00000000009e-06 -0.105038082269" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="dgreen">
        <color rgba="0.1 0.8 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.400314530555 -7.00000000009e-06 -0.105038082269" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_wrist_pitch_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_pitch" type="revolute">
    <origin xyz="0.103427563179 7.00000000002e-06 0.0254874807467" rpy="0 0 0"/>
    <axis xyz="0.258818979447 0.0 -0.965925843882"/>
    <parent link="l_forearm"/>
    <child link="l_wrist_1"/>
    <limit effort="50000" lower="-1.3962634016" upper="0.436332312999"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_hand">
    <inertial>
      <origin xyz="0.0647680204057 0.0056304 0.0226602208449" rpy="0 0 0"/>
      <mass value="0.247806"/>
      <inertia ixx="0.01" ixy="2.96453e-06" ixz="-3.68906e-05" iyy="0.01"
               iyz="2.06885e-05" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="-0.399680424055 0.0194929 -0.107404600587" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_hand_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="gray">
        <color rgba="0.5 0.5 0.5 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.399680424055 0.0194929 -0.107404600587" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_l_hand_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="l_wrist_yaw" type="revolute">
    <origin xyz="-0.000634106499644 -0.0194999 0.00236651831751" rpy="0 0 0"/>
    <axis xyz="-2.22044604925e-16 1.0 0.0"/>
    <parent link="l_wrist_1"/>
    <child link="l_hand"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.436332312999"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="l_hand_dh_frame"/>
  <joint name="l_hand_dh_frame_fixed_joint" type="fixed">
    <origin xyz="0.0576542978428 -0.0055568 0.0136938323083"
            rpy="-1.57079632679 -0.261799319827 0"/>
    <parent link="l_hand"/>
    <child link="l_hand_dh_frame"/>
    <dynamics damping="0.1"/>
  </joint>
  <link name="neck_1">
    <inertial>
      <origin xyz="0.0143705608 0.006567 -0.0063842" rpy="0 0 0"/>
      <mass value="0.125793"/>
      <inertia ixx="0.01" ixy="8.09156e-08" ixz="-3.74998e-08" iyy="0.01"
               iyz="9.39717e-06" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0.0142999998093 -0.079997 -0.0295008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="green">
        <color rgba="0 1 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0142999998093 -0.079997 -0.0295008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="neck_pitch" type="revolute">
    <origin xyz="-0.0142999998093 0.172797 0.0053118" rpy="0 0 0"/>
    <axis xyz="-1.0 0.0 0.0"/>
    <parent link="chest"/>
    <child link="neck_1"/>
    <limit effort="50000" lower="-0.698131700798" upper="0.383972435439"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="neck_2">
    <inertial>
      <origin xyz="-8.8573009265e-05 0.035225 -0.01954527" rpy="0 0 0"/>
      <mass value="0.177087"/>
      <inertia ixx="0.01" ixy="-5.25591e-07" ixz="4.68307e-07" iyy="0.01"
               iyz="9.81476e-06" izz="0.01"/>
    </inertial>
    <visual>
      <origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="black">
        <color rgba="0 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="neck_roll" type="revolute">
    <origin xyz="0.0142999998093 0.0095 0.02079997" rpy="0 0 0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <parent link="neck_1"/>
    <child link="neck_2"/>
    <limit effort="50000" lower="-0.349065850399" upper="0.349065850399"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="head">
    <inertial>
      <origin xyz="-0.000574157809265 0.113511 -0.0075392" rpy="0 0 0"/>
      <mass value="1.50691"/>
      <inertia ixx="0.00680478" ixy="-1.60267e-05" ixz="7.28166e-05"
               iyy="0.00634736" iyz="0.000292091" izz="0.00478116"/>
    </inertial>
    <visual>
      <origin xyz="0 -0.067153 -0.0295008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="red">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 -0.067153 -0.0295008" rpy="0 0 0"/>
      <geometry>
        <mesh filename="file://meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl"
              scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="neck_yaw" type="revolute">
    <origin xyz="0 -0.022344 -0.02079997" rpy="0 0 0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <parent link="neck_2"/>
    <child link="head"/>
    <limit effort="50000" lower="-0.872664625997" upper="0.872664625997"
           velocity="50000"/>
    <dynamics damping="1.0" friction="0.0"/>
  </joint>
  <link name="base_link"/>
  <joint name="base_fixed_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 -0 0"/>
    <axis xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="root_link"/>
  </joint>
  <link name="l_foot_dh_frame"/>
  <joint name="l_foot_dh_frame_fixed_joint" type="fixed">
    <origin xyz="0.0 0 0.004" rpy="0 1.5708 0"/>
    <axis xyz="0 0 0"/>
    <parent link="l_foot"/>
    <child link="l_foot_dh_frame"/>
  </joint>
  <link name="r_foot_dh_frame"/>
  <joint name="r_foot_dh_frame_fixed_joint" type="fixed">
    <origin xyz="0.0 0 0.004" rpy="0 1.5708 0"/>
    <axis xyz="0 0 0"/>
    <parent link="r_foot"/>
    <child link="r_foot_dh_frame"/>
  </joint>
  <gazebo reference="r_arm_ft_sensor">
    <preserveFixedJoint>true</preserveFixedJoint>
    <!-- For compatibility with SDFormat < 4.4 -->
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>
  <gazebo reference="l_arm_ft_sensor">
    <preserveFixedJoint>true</preserveFixedJoint>
    <!-- For compatibility with SDFormat < 4.4 -->
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>
  <gazebo reference="r_leg_ft_sensor">
    <preserveFixedJoint>true</preserveFixedJoint>
    <!-- For compatibility with SDFormat < 4.4 -->
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>
  <gazebo reference="l_leg_ft_sensor">
    <preserveFixedJoint>true</preserveFixedJoint>
    <!-- For compatibility with SDFormat < 4.4 -->
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>
  <gazebo reference="r_foot_ft_sensor">
    <preserveFixedJoint>true</preserveFixedJoint>
    <!-- For compatibility with SDFormat < 4.4 -->
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>
  <gazebo reference="l_foot_ft_sensor">
    <preserveFixedJoint>true</preserveFixedJoint>
    <!-- For compatibility with SDFormat < 4.4 -->
    <disableFixedJointLumping>true</disableFixedJointLumping>
  </gazebo>
  <gazebo reference="l_foot">
    <collision>
      <surface>
        <bounce>
          <restitution_coefficient>0</restitution_coefficient>
          <threshold>100000</threshold>
        </bounce>
      </surface>
      <max_contacts>4</max_contacts>
    </collision>
  </gazebo>
  <gazebo reference="r_foot">
    <collision>
      <surface>
        <bounce>
          <restitution_coefficient>0</restitution_coefficient>
          <threshold>100000</threshold>
        </bounce>
      </surface>
      <max_contacts>4</max_contacts>
    </collision>
  </gazebo>
  <gazebo reference="r_hip_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_hip_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_hip_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_knee">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_ankle_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_ankle_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_hip_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_hip_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_hip_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_knee">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_ankle_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_ankle_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="torso_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="torso_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="torso_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_shoulder_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_shoulder_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_shoulder_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_elbow">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_wrist_prosup">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_wrist_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="r_wrist_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_shoulder_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_shoulder_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_shoulder_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_elbow">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_wrist_prosup">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_wrist_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="l_wrist_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="neck_pitch">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="neck_roll">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo reference="neck_yaw">
    <implicitSpringDamper>1</implicitSpringDamper>
  </gazebo>
  <gazebo>
    <pose>0.0 0.0 0.63 0.0 0.0 3.14</pose>
  </gazebo>
  <gazebo reference="root_link">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="torso_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="torso_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="chest">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="neck_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="neck_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="head">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_hip_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_hip_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_hip_3">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_upper_leg">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_lower_leg">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_ankle_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_ankle_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_foot">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_shoulder_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_shoulder_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_shoulder_3">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_upper_arm">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_elbow_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_forearm">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_wrist_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="l_hand">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_hip_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_hip_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_hip_3">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_upper_leg">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_lower_leg">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_ankle_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_ankle_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_foot">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_shoulder_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_shoulder_2">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_shoulder_3">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_upper_arm">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_elbow_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_forearm">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_wrist_1">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>
  <gazebo reference="r_hand">
    <visual>
      <material>
        <diffuse>1 1 1 1</diffuse>
      </material>
    </visual>
  </gazebo>

</robot>