SUSTAINA-OP.urdf

<?xml version="1.0" ?>
<robot name="SUSTAINA-OP" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <material name="black">
    <color rgba="0.3 0.3 0.3 1.0"/>
  </material>
  <material name="blue">
    <color rgba="0.2 0.2 1.0 1.0"/>
  </material>
  <material name="green">
    <color rgba="0.0 0.8 0.0 1.0"/>
  </material>
  <material name="grey">
    <color rgba="0.5 0.5 0.5 1.0"/>
  </material>
  <material name="orange">
    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
  </material>
  <material name="brown">
    <color rgba="1.0 0.811764705882 0.764705882353 1.0"/>
  </material>
  <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>
  <!-- import empty link -->
  <link name="base_link">
  </link>
  <!-- uncomment this part to fixed the body in space (ignore gravity) -->
  <!--
    <link name="world"/>
    <joint name="world2base" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0" />
        <parent link="world"/>
        <child link="base_link"/>
    </joint>
    -->
  <!-- base joints -->
  <joint name="base_joint" type="fixed">
    <parent link="base_link"/>
    <child link="body_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.3725"/>
  </joint>
  <!-- base body -->
  <link name="body_link">
    <inertial>
      <mass value="1.758639"/>
      <origin xyz="-0.02475 0.000537 0.068556"/>
      <inertia ixx="0.009982335" ixy="0.0" ixz="0.0" iyy="0.007902445" iyz="0.0" izz="0.00631869"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Trunk.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Trunk.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- head joints -->
  <joint name="head_yaw_joint" type="revolute">
    <parent link="body_link"/>
    <child link="head_yaw_link"/>
    <origin rpy="0 0 0" xyz="-0.005 0 0.179"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <!-- head link -->
  <link name="head_yaw_link">
    <inertial>
      <mass value="0.094731"/>
      <origin xyz="0.005724 0 0.060725"/>
      <inertia ixx="0.000126538" ixy="0.0" ixz="0.0" iyy="0.000131085" iyz="0.0" izz="0.000071725 "/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Head.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Head.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- left arm joints -->
  <joint name="left_shoulder_pitch_joint" type="revolute">
    <parent link="body_link"/>
    <child link="left_shoulder_link"/>
    <origin rpy="0 0 0" xyz="-0.005 0.0785 0.148"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_shoulder_roll_joint" type="revolute">
    <parent link="left_shoulder_link"/>
    <child link="left_upper_arm_link"/>
    <origin rpy="0 0 0" xyz="0 0.0308 -0.025"/>
    <limit effort="1000" lower="0" upper="3.14159265359" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="left_elbow_pitch_joint" type="revolute">
    <parent link="left_upper_arm_link"/>
    <child link="left_fore_arm_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.145"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <!-- left arm link -->
  <link name="left_shoulder_link">
    <inertial>
      <mass value="0.029974"/>
      <origin xyz="0 0.01004 -0.005235"/>
      <inertia ixx="0.000009025" ixy="0.0" ixz="0.0" iyy="0.000016881" iyz="0.0" izz="0.000011316"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Shoulder.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Shoulder.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_upper_arm_link">
    <inertial>
      <mass value="0.433169"/>
      <origin xyz="0.000415 0.005221 -0.047591"/>
      <inertia ixx="0.001462386" ixy="0.0" ixz="0.0" iyy="0.001573653" iyz="0.0" izz="0.000250070"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/UpperArm.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/UpperArm.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_fore_arm_link">
    <inertial>
      <mass value="0.137614"/>
      <origin xyz="0 0.011654 -0.083221"/>
      <inertia ixx="0.000397774" ixy="0.0" ixz="0.0" iyy="0.000391749" iyz="0.0" izz="0.000056957"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/ForeArm.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/ForeArm.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- rigiht arm joints -->
  <joint name="right_shoulder_pitch_joint" type="revolute">
    <parent link="body_link"/>
    <child link="right_shoulder_link"/>
    <origin rpy="0 0 0" xyz="-0.005 -0.0785 0.148"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_shoulder_roll_joint" type="revolute">
    <parent link="right_shoulder_link"/>
    <child link="right_upper_arm_link"/>
    <origin rpy="0 0 0" xyz="0 -0.0308 -0.025"/>
    <limit effort="1000" lower="-3.14159265359" upper="0" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="right_elbow_pitch_joint" type="revolute">
    <parent link="right_upper_arm_link"/>
    <child link="right_fore_arm_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.145"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <!-- rigiht arm link -->
  <link name="right_shoulder_link">
    <inertial>
      <mass value="0.029974"/>
      <origin xyz="0 -0.01004 -0.005235"/>
      <inertia ixx="0.000009025" ixy="0.0" ixz="0.0" iyy="0.000016881" iyz="0.0" izz="0.000011316"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Shoulder.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <!-- fix shoulder collision.stl -->
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Shoulder.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_upper_arm_link">
    <inertial>
      <mass value="0.433169"/>
      <origin xyz="0.000415 -0.005221 -0.047591"/>
      <inertia ixx="0.001462386" ixy="0.0" ixz="0.0" iyy="0.001573653" iyz="0.0" izz="0.000250070"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/UpperArm_MIR.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/UpperArm_MIR.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_fore_arm_link">
    <inertial>
      <mass value="0.137614"/>
      <origin xyz="0 -0.011654 -0.083221"/>
      <inertia ixx="0.000397774" ixy="0.0" ixz="0.0" iyy="0.000391749" iyz="0.0" izz="0.000056957"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/ForeArm.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/ForeArm.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- leg joints -->
  <joint name="left_waist_yaw_joint" type="revolute">
    <parent link="body_link"/>
    <child link="left_waist_yaw_link"/>
    <origin rpy="0 0 0" xyz="0.0 0.044 -0.015"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="left_waist_roll_joint" type="revolute">
    <parent link="left_waist_yaw_link"/>
    <child link="left_waist_roll_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.0475"/>
    <limit effort="1000" lower="-0.785398163397" upper="0.785398163397" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="left_waist_roll_mimic_joint" type="revolute">
    <parent link="left_waist_roll_link"/>
    <child link="left_slider_crank_link"/>
    <origin rpy="0 0 0" xyz="-0.0315 0 0.018"/>
    <mimic joint="left_waist_roll_joint" multiplier="-2" offset="0"/>
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="2.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="left_waist_pitch_joint" type="revolute">
    <parent link="left_waist_roll_link"/>
    <child link="left_waist_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000" lower="-1.57079632679" upper="0.523598775598" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_waist_pitch_mimic_joint" type="revolute">
    <parent link="left_waist_roll_link"/>
    <child link="left_waist_pitch_mimic_link"/>
    <origin rpy="0 0 0" xyz="-0.032 0 -0.020"/>
    <mimic joint="left_waist_pitch_joint" multiplier="1" offset="0"/>
    <limit effort="1000" lower="-1.57079632679" upper="0.523598775598" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_knee_pitch_mimic_joint" type="revolute">
    <parent link="left_waist_pitch_link"/>
    <child link="left_knee_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.1"/>
    <mimic joint="left_waist_pitch_joint" multiplier="-1" offset="0"/>
    <limit effort="1000" lower="-0.523598775598" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_knee_pitch_joint" type="revolute">
    <parent link="left_knee_pitch_link"/>
    <child link="left_shin_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.057"/>
    <limit effort="1000" lower="-0.523598775598" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_shin_pitch_mimic_joint" type="revolute">
    <parent link="left_knee_pitch_link"/>
    <child link="left_shin_pitch_mimic_link"/>
    <origin rpy="0 0 0" xyz="-0.032 0 -0.037"/>
    <mimic joint="left_knee_pitch_joint" multiplier="1" offset="0"/>
    <limit effort="1000" lower="-0.523598775598" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_ankle_pitch_mimic_joint" type="revolute">
    <parent link="left_shin_pitch_link"/>
    <child link="left_independent_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.1"/>
    <mimic joint="left_knee_pitch_joint" multiplier="-1" offset="0"/>
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_ankle_pitch_joint" type="revolute">
    <parent link="left_independent_pitch_link"/>
    <child link="left_ankle_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="left_ankle_roll_joint" type="revolute">
    <parent link="left_ankle_pitch_link"/>
    <child link="left_ankle_roll_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="left_foot_joint" type="fixed">
    <parent link="left_ankle_roll_link"/>
    <child link="left_foot_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!-- leg links -->
  <link name="left_waist_yaw_link">
    <inertial>
      <mass value="0.03478"/>
      <origin xyz="-0.008797 0 -0.009724"/>
      <inertia ixx="0.000008114" ixy="0.0" ixz="0.0" iyy="0.000023034" iyz="0.0" izz="0.000019287"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_yaw.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_yaw.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_waist_roll_link">
    <inertial>
      <mass value="0.129389"/>
      <origin xyz="-0.011068 -0.000004 -0.000154"/>
      <inertia ixx="0.000055580" ixy="0.0" ixz="0.0" iyy="0.000061752" iyz="0.0" izz="0.000079989"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_pitch.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_pitch.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_slider_crank_link">
    <inertial>
      <mass value="0.011085"/>
      <origin xyz="-0.005363 0.000000 0.012305"/>
      <inertia ixx="0.000001236" ixy="0.0" ixz="0.0" iyy="0.000001154" iyz="0.0" izz="0.000000372"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Slider_crank_mechanism.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Slider_crank_mechanism.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_waist_pitch_link">
    <inertial>
      <mass value="0.048967"/>
      <origin xyz="0.011314 0.000000 -0.062223"/>
      <inertia ixx="0.000082632" ixy="0.0" ixz="0.0" iyy="0.000049273" iyz="0.0" izz="0.000045494"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_waist_pitch_mimic_link">
    <inertial>
      <mass value="0.023"/>
      <origin xyz="-0.001672 0.000000 -0.043339"/>
      <inertia ixx="0.000034484" ixy="0.0" ixz="0.0" iyy="0.000017178" iyz="0.0" izz="0.000018302"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackUpperLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackUpperLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_knee_pitch_link">
    <inertial>
      <mass value="0.19127"/>
      <origin xyz="-0.012553 -0.000997 -0.023840"/>
      <inertia ixx="0.000164790" ixy="0.0" ixz="0.0" iyy="0.000151986" iyz="0.0" izz="0.000098349"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Knee.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Knee.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_shin_pitch_link">
    <inertial>
      <mass value="0.048967"/>
      <origin xyz="0.011314 0.000000 -0.037777"/>
      <inertia ixx="0.000082632" ixy="0.0" ixz="0.0" iyy="0.000049273" iyz="0.0" izz="0.000045494"/>
    </inertial>
    <visual>
      <origin rpy="3.14159 0 0" xyz="0 0 -0.100"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="3.14159 0 0" xyz="0 0 -0.100"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_shin_pitch_mimic_link">
    <inertial>
      <mass value="0.023"/>
      <origin xyz="-0.001672 0.000000 -0.048684"/>
      <inertia ixx="0.000032309" ixy="0.0" ixz="0.0" iyy="0.000015039" iyz="0.0" izz="0.000018339"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackLowerLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackLowerLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_independent_pitch_link">
    <inertial>
      <mass value="0.033835"/>
      <origin xyz="-0.014232 0.000000 0.008895"/>
      <inertia ixx="0.000030599" ixy="0.0" ixz="0.0" iyy="0.000011414" iyz="0.0" izz="0.000040713"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle_independent_pitch.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle_independent_pitch.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_ankle_pitch_link">
    <inertial>
      <mass value="0.170076"/>
      <origin xyz="-0.031024 -0.000563 0.005073"/>
      <inertia ixx="0.000049799" ixy="0.0" ixz="0.0" iyy="0.000213199" iyz="0.0" izz="0.000223639"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_ankle_roll_link">
    <inertial>
      <mass value="0.084354"/>
      <origin xyz="-0.009915 0.014839 -0.038901"/>
      <inertia ixx="0.000072411" ixy="0.0" ixz="0.0" iyy="0.000303046" iyz="0.0" izz="0.000358794"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Foot.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Foot.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="left_foot_link">
    <inertial>
      <mass value="0.0"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <!-- leg joints -->
  <joint name="right_waist_yaw_joint" type="revolute">
    <parent link="body_link"/>
    <child link="right_waist_yaw_link"/>
    <origin rpy="0 0 0" xyz="0 -0.044 -0.015"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="right_waist_roll_joint" type="revolute">
    <parent link="right_waist_yaw_link"/>
    <child link="right_waist_roll_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.0475"/>
    <limit effort="1000" lower="-0.785398163397" upper="0.785398163397" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="right_waist_roll_mimic_joint" type="revolute">
    <parent link="right_waist_roll_link"/>
    <child link="right_slider_crank_link"/>
    <origin rpy="0 0 0" xyz="-0.0315 0 0.018"/>
    <mimic joint="right_waist_roll_joint" multiplier="-2" offset="0"/>
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="2.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="right_waist_pitch_joint" type="revolute">
    <parent link="right_waist_roll_link"/>
    <child link="right_waist_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000" lower="-1.57079632679" upper="0.523598775598" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_waist_pitch_mimic_joint" type="revolute">
    <parent link="right_waist_roll_link"/>
    <child link="right_waist_pitch_mimic_link"/>
    <origin rpy="0 0 0" xyz="-0.032 0 -0.020"/>
    <mimic joint="right_waist_pitch_joint" multiplier="1" offset="0"/>
    <limit effort="1000" lower="-1.57079632679" upper="0.523598775598" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_knee_pitch_mimic_joint" type="revolute">
    <parent link="right_waist_pitch_link"/>
    <child link="right_knee_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.100"/>
    <mimic joint="right_waist_pitch_joint" multiplier="-1" offset="0"/>
    <limit effort="1000" lower="-0.523598775598" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_knee_pitch_joint" type="revolute">
    <parent link="right_knee_pitch_link"/>
    <child link="right_shin_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.057"/>
    <limit effort="1000" lower="-0.523598775598" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_shin_pitch_mimic_joint" type="revolute">
    <parent link="right_knee_pitch_link"/>
    <child link="right_shin_pitch_mimic_link"/>
    <origin rpy="0 0 0" xyz="-0.032 0 -0.037"/>
    <mimic joint="right_knee_pitch_joint" multiplier="1" offset="0"/>
    <limit effort="1000" lower="-0.523598775598" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_ankle_pitch_mimic_joint" type="revolute">
    <parent link="right_shin_pitch_link"/>
    <child link="right_independent_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 -0.100"/>
    <mimic joint="right_knee_pitch_joint" multiplier="-1" offset="0"/>
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_ankle_pitch_joint" type="revolute">
    <parent link="right_independent_pitch_link"/>
    <child link="right_ankle_pitch_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000" lower="-2.35619449019" upper="2.35619449019" velocity="1.0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="right_ankle_roll_joint" type="revolute">
    <parent link="right_ankle_pitch_link"/>
    <child link="right_ankle_roll_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <limit effort="1000" lower="-1.57079632679" upper="1.57079632679" velocity="1.0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="right_foot_joint" type="fixed">
    <parent link="right_ankle_roll_link"/>
    <child link="right_foot_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!-- leg links -->
  <link name="right_waist_yaw_link">
    <inertial>
      <mass value="0.03478"/>
      <origin xyz="-0.008797 0.000000 -0.009724"/>
      <inertia ixx="0.000008114" ixy="0.0" ixz="0.0" iyy="0.000023034" iyz="0.0" izz="0.000019287"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_yaw.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_yaw.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_waist_roll_link">
    <inertial>
      <mass value="0.129389"/>
      <origin xyz="-0.011068 0.000004 -0.000154"/>
      <inertia ixx="0.000055580" ixy="0.0" ixz="0.0" iyy="0.000061752" iyz="0.0" izz="0.000079989"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_pitch.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Leg_joint_roll_pitch.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_slider_crank_link">
    <inertial>
      <mass value="0.011085"/>
      <origin xyz="-0.005363 0.000000 0.012305"/>
      <inertia ixx="0.000001236" ixy="0.0" ixz="0.0" iyy="0.000001154" iyz="0.0" izz="0.000000372"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Slider_crank_mechanism.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Slider_crank_mechanism.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_waist_pitch_link">
    <inertial>
      <mass value="0.048967"/>
      <origin xyz="0.011314 0.000000 -0.062223"/>
      <inertia ixx="0.000082632" ixy="0.0" ixz="0.0" iyy="0.000049273" iyz="0.0" izz="0.000045494"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_waist_pitch_mimic_link">
    <inertial>
      <mass value="0.023"/>
      <origin xyz="-0.001672 0.000000 -0.043339"/>
      <inertia ixx="0.000034484" ixy="0.0" ixz="0.0" iyy="0.000017178" iyz="0.0" izz="0.000018302"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackUpperLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackUpperLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_knee_pitch_link">
    <inertial>
      <mass value="0.19127"/>
      <origin xyz="-0.012553 0.000997 -0.023840"/>
      <inertia ixx="0.000164790" ixy="0.0" ixz="0.0" iyy="0.000151986" iyz="0.0" izz="0.000098349"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Knee_MIR.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Knee_MIR.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_shin_pitch_link">
    <inertial>
      <mass value="0.048967"/>
      <origin xyz="0.011314 0.000000 -0.037777"/>
      <inertia ixx="0.000082632" ixy="0.0" ixz="0.0" iyy="0.000049273" iyz="0.0" izz="0.000045494"/>
    </inertial>
    <visual>
      <origin rpy="3.14159 0 0" xyz="0 0 -0.100"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="3.14159 0 0" xyz="0 0 -0.100"/>
      <geometry>
        <mesh filename="./meshes/stl/FrontLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_shin_pitch_mimic_link">
    <inertial>
      <mass value="0.023"/>
      <origin xyz="-0.001672 0.000000 -0.048684"/>
      <inertia ixx="0.000032309" ixy="0.0" ixz="0.0" iyy="0.000015039" iyz="0.0" izz="0.000018339"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackLowerLink.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/BackLowerLink.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_independent_pitch_link">
    <inertial>
      <mass value="0.033835"/>
      <origin xyz="-0.014232 0.000000 0.008895"/>
      <inertia ixx="0.000030599" ixy="0.0" ixz="0.0" iyy="0.000011414" iyz="0.0" izz="0.000040713"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle_independent_pitch.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle_independent_pitch.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_ankle_pitch_link">
    <inertial>
      <mass value="0.170076"/>
      <origin xyz="-0.031024 0.000563 0.005073"/>
      <inertia ixx="0.000049799" ixy="0.0" ixz="0.0" iyy="0.000213199" iyz="0.0" izz="0.000223639"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle_MIR.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Ankle_MIR.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_ankle_roll_link">
    <inertial>
      <mass value="0.084354"/>
      <origin xyz="-0.009915 -0.014839 -0.038901"/>
      <inertia ixx="0.000072411" ixy="0.0" ixz="0.0" iyy="0.000303046" iyz="0.0" izz="0.000358794"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Foot_MIR.stl"/>
      </geometry>
      <material name="black"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/stl/Foot_MIR.stl"/>
      </geometry>
    </collision>
  </link>
  <link name="right_foot_link">
    <inertial>
      <mass value="0.0"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <!-- camera joints -->
  <joint name="camera_joint" type="fixed">
    <parent link="head_yaw_link"/>
    <child link="camera_link"/>
    <origin rpy="0.785398163397 0 -1.5707963268" xyz="0.036495 0 0.063504"/>
  </joint>
  <!-- camera link -->
  <link name="camera_link">
    <inertial>
      <mass value="0.0"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <!-- imu joint -->
  <joint name="imu_joint" type="fixed">
    <parent link="body_link"/>
    <child link="imu_link"/>
    <origin rpy="0 0 0" xyz="-0.005 0.01682 0.003"/>
  </joint>
  <!-- imu link -->
  <link name="imu_link">
    <inertial>
      <mass value="0.0"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
  </link>
  <transmission name="trans_head_yaw">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="head_yaw_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_head_yaw">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_shoulder_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_shoulder_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_shoulder_roll">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_shoulder_roll_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_elbow_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_elbow_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_shoulder_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_shoulder_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_shoulder_roll">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_shoulder_roll_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_elbow_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_elbow_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_waist_yaw">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_waist_yaw_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_waist_roll">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_waist_roll_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_waist_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_waist_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_knee_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_knee_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_ankle_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_ankle_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_left_ankle_roll">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_ankle_roll_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_waist_yaw">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_waist_yaw_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_waist_roll">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_waist_roll_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_waist_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_waist_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_knee_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_knee_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_ankle_pitch">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_ankle_pitch_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="trans_right_ankle_roll">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_ankle_roll_joint">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor_{name}">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace/>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>
  <gazebo reference="body_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="head_yaw_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_shoulder_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_upper_arm_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_fore_arm_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_shoulder_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_upper_arm_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_fore_arm_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_waist_yaw_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_waist_roll_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_slider_crank_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_waist_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_waist_pitch_mimic_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_knee_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_shin_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_shin_pitch_mimic_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_independent_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_ankle_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_ankle_roll_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="left_foot_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="left_waist_roll_mimic_mimic_joint_plugin">
      <joint>left_waist_roll_joint</joint>
      <mimicJoint>left_waist_roll_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>-2</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="left_waist_pitch_mimic_mimic_joint_plugin">
      <joint>left_waist_pitch_joint</joint>
      <mimicJoint>left_waist_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="left_knee_pitch_mimic_mimic_joint_plugin">
      <joint>left_waist_pitch_joint</joint>
      <mimicJoint>left_knee_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>-1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="left_shin_pitch_mimic_mimic_joint_plugin">
      <joint>left_knee_pitch_joint</joint>
      <mimicJoint>left_shin_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="left_ankle_pitch_mimic_mimic_joint_plugin">
      <joint>left_knee_pitch_joint</joint>
      <mimicJoint>left_ankle_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>-1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo reference="right_waist_yaw_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_waist_roll_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_slider_crank_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_waist_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_waist_pitch_mimic_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_knee_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_shin_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_shin_pitch_mimic_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_independent_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_ankle_pitch_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_ankle_roll_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo reference="right_foot_link">
    <mu1>1.0</mu1>
    <mu2>1.0</mu2>
    <kp>1000000.0</kp>
    <kd>100.0</kd>
    <gravity>false</gravity>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="right_waist_roll_mimic_mimic_joint_plugin">
      <joint>right_waist_roll_joint</joint>
      <mimicJoint>right_waist_roll_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>-2</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="right_waist_pitch_mimic_mimic_joint_plugin">
      <joint>right_waist_pitch_joint</joint>
      <mimicJoint>right_waist_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="right_knee_pitch_mimic_mimic_joint_plugin">
      <joint>right_waist_pitch_joint</joint>
      <mimicJoint>right_knee_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>-1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="right_shin_pitch_mimic_mimic_joint_plugin">
      <joint>right_knee_pitch_joint</joint>
      <mimicJoint>right_shin_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo>
    <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="right_ankle_pitch_mimic_mimic_joint_plugin">
      <joint>right_knee_pitch_joint</joint>
      <mimicJoint>right_ankle_pitch_mimic_joint</mimicJoint>
      <hasPID/>
      <multiplier>-1</multiplier>
      <offset>0</offset>
      <sensitiveness>0.0</sensitiveness>
      <maxEffort>1000.0</maxEffort>
    </plugin>
  </gazebo>
  <gazebo reference="camera_link">
    <sensor name="camera_sensor" type="camera">
      <update_rate>10.0</update_rate>
      <camera name="camera_sensor">
        <pose>0 0 0 0 0 0</pose>
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="camera_plugin">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>camera_sensor</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link</frameName>
        <hackBaseLine>0.0</hackBaseLine>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>
  <gazebo reference="imu_link">
    <gravity>true</gravity>
    <sensor name="imu_sensor" type="imu">
      <always_on>true</always_on>
      <update_rate>100</update_rate>
      <visualize>true</visualize>
      <topic>data</topic>
      <pose>0 0 0 0 0 0</pose>
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <topicName>imu/data</topicName>
        <bodyName>imu_link</bodyName>
        <updateRateHZ>10.0</updateRateHZ>
        <gaussianNoise>0.0</gaussianNoise>
        <xyzOffset>0 0 0</xyzOffset>
        <rpyOffset>0 0 0</rpyOffset>
        <frameName>imu_link</frameName>
      </plugin>
    </sensor>
  </gazebo>
</robot>