<robot name="robot">
  <link name="base_footprint"></link>
  <joint name="base_joint" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="base_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.05" />
      </geometry>
      <material name="base_link-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_spine_1" type="revolute">
    <parent link="base_link" />
    <child link="spine_1" />
    <origin xyz="0 0 0.033737961440044734" rpy="0 0 0" />
    <axis xyz="-0.9996738127289346 -0.011364625593810783 0.02287167307189009"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="spine_1">
    <visual>
      <origin xyz="0 0 0.05" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.1" />
      </geometry>
      <material name="spine_1-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.05" rpy="0 0 0" />
      <geometry>
        <box size="0.1 0.05 0.1" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.05" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_upper_arm_right" type="revolute">
    <parent link="base_link" />
    <child link="upper_arm_right" />
    <origin xyz="0.062354968072652533 0 0.13096467297466818" rpy="-3.141592653589793 -0.6586873842445309 -1.548624773543236e-16" />
    <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="upper_arm_right">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.06" />
      </geometry>
      <material name="upper_arm_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.06" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_lower_arm_right" type="revolute">
    <parent link="base_link" />
    <child link="lower_arm_right" />
    <origin xyz="0.10009022777221713 0 0.08243944985877427" rpy="-3.141592653589793 -0.6586873842445309 -2.496506045944997e-16" />
    <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="lower_arm_right">
    <visual>
      <origin xyz="0 0 0.025" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.05" />
      </geometry>
      <material name="lower_arm_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.025" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.05" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.025" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_hand_right" type="revolute">
    <parent link="base_link" />
    <child link="hand_right" />
    <origin xyz="0.13276109632093022 0 0.03940068352661779" rpy="-3.141592653589793 -0.6586873842445309 -2.496506045944997e-16" />
    <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="hand_right">
    <visual>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
      <material name="hand_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.015" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  
  <!-- Left Upper Arm -->
<joint name="base_link_to_upper_arm_left" type="revolute">
  <parent link="base_link" />
  <child link="upper_arm_left" />
  <origin xyz="-0.062354968072652533 0 0.13096467297466818" rpy="-3.141592653589793 0.6586873842445309 -1.548624773543236e-16" />
  <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
<link name="upper_arm_left">
  <visual>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <geometry><box size="0.03 0.03 0.06" /></geometry>
    <material name="upper_arm_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <geometry><box size="0.03 0.03 0.06" /></geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <mass value="1" />
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
  </inertial>
</link>

<!-- Left Lower Arm -->
<joint name="base_link_to_lower_arm_left" type="revolute">
  <parent link="base_link" />
  <child link="lower_arm_left" />
  <origin xyz="-0.10009022777221713 0 0.08243944985877427" rpy="-3.141592653589793 0.6586873842445309 -2.496506045944997e-16" />
  <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
<link name="lower_arm_left">
  <visual>
    <origin xyz="0 0 0.025" rpy="0 0 0" />
    <geometry><box size="0.03 0.03 0.05" /></geometry>
    <material name="lower_arm_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.025" rpy="0 0 0" />
    <geometry><box size="0.03 0.03 0.05" /></geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.025" rpy="0 0 0" />
    <mass value="1" />
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
  </inertial>
</link>

<!-- Left Hand -->
<joint name="base_link_to_hand_left" type="revolute">
  <parent link="base_link" />
  <child link="hand_left" />
  <origin xyz="-0.13276109632093022 0 0.03940068352661779" rpy="-3.141592653589793 0.6586873842445309 -2.496506045944997e-16" />
  <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>

<link name="hand_left">
  <visual>
    <origin xyz="0 0 0.015" rpy="0 0 0" />
    <geometry><box size="0.03 0.03 0.03" /></geometry>
    <material name="hand_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.015" rpy="0 0 0" />
    <geometry><box size="0.03 0.03 0.03" /></geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.015" rpy="0 0 0" />
    <mass value="1" />
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.16666666666666666" />
  </inertial>
</link>


<joint name="base_link_to_upper_leg_right" type="revolute">
    <parent link="base_link" />
    <child link="upper_leg_right" />
    <origin xyz="0.027260906368426083 0 -0.0372788919866843" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
    <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="upper_leg_right">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.04 0.07" />
      </geometry>
      <material name="upper_leg_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.04 0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_lower_leg_right" type="revolute">
    <parent link="base_link" />
    <child link="lower_leg_right" />
    <origin xyz="0.027260906368426083 0 -0.11088915657500885" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
    <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="lower_leg_right">
    <visual>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.04 0.07" />
      </geometry>
      <material name="lower_leg_right-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.04 0.07" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.03" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_lower_leg_right1" type="revolute">
    <parent link="base_link" />
    <child link="lower_leg_right1" />
    <origin xyz="0.027260906368426083 -0.004866298635659946 -0.17845456205258786" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
    <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="lower_leg_right1">
    <visual>
      <origin xyz="0 0.025 0.01" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.08 0.02" />
      </geometry>
      <material name="lower_leg_right1-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0.025 0.01" rpy="0 0 0" />
      <geometry>
        <box size="0.04 0.08 0.02" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0.025 0.01" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <!-- Left Upper Leg -->
<joint name="base_link_to_upper_leg_left" type="revolute">
  <parent link="base_link" />
  <child link="upper_leg_left" />
  <origin xyz="-0.027260906368426083 0 -0.0372788919866843" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
  <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
<link name="upper_leg_left">
  <visual>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <geometry><box size="0.04 0.04 0.07" /></geometry>
    <material name="upper_leg_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <geometry><box size="0.04 0.04 0.07" /></geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <mass value="1" />
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
  </inertial>
</link>

<!-- Left Lower Leg -->
<joint name="base_link_to_lower_leg_left" type="revolute">
  <parent link="base_link" />
  <child link="lower_leg_left" />
  <origin xyz="-0.027260906368426083 0 -0.11088915657500885" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
  <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
<link name="lower_leg_left">
  <visual>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <geometry><box size="0.04 0.04 0.07" /></geometry>
    <material name="lower_leg_left-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <geometry><box size="0.04 0.04 0.07" /></geometry>
  </collision>
  <inertial>
    <origin xyz="0 0 0.03" rpy="0 0 0" />
    <mass value="1" />
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
  </inertial>
</link>

<!-- Left Foot -->
<joint name="base_link_to_lower_leg_left1" type="revolute">
  <parent link="base_link" />
  <child link="lower_leg_left1" />
  <origin xyz="-0.027260906368426083 -0.004866298635659946 -0.17845456205258786" rpy="3.141592653589793 2.220446049250313e-16 3.141592653589793" />
  <axis xyz="-0.9996738127289344 -0.011364625593814749 0.022871673071897854"/>
  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
</joint>
<link name="lower_leg_left1">
  <visual>
    <origin xyz="0 0.025 0.01" rpy="0 0 0" />
    <geometry><box size="0.04 0.08 0.02" /></geometry>
    <material name="lower_leg_left1-material">
      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
    </material>
  </visual>
  <collision>
    <origin xyz="0 0.025 0.01" rpy="0 0 0" />
    <geometry><box size="0.04 0.08 0.02" /></geometry>
  </collision>
  <inertial>
    <origin xyz="0 0.025 0.01" rpy="0 0 0" />
    <mass value="1" />
    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
  </inertial>
</link>
<joint name="base_link_to_neck" type="revolute">
    <parent link="base_link" />
    <child link="neck" />
    <origin xyz="0 0 0.13701911638953843" rpy="0 0 0" />
    <axis xyz="0 -0 0.9999894272033905"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="neck">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
      <material name="neck-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.03 0.03 0.03" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
  <joint name="base_link_to_head" type="revolute">
    <parent link="base_link" />
    <child link="head" />
    <origin xyz="0 0 0.1835254369219812" rpy="0 0 0" />
    <axis xyz="0.9999427237624327 -0.0025510738064054572 0.010394287710165623"/>
    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
  <link name="head">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.06" />
      </geometry>
      <material name="head-material">
        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="0.06 0.06 0.06" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1" />
      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
    </inertial>
  </link>
</robot>