<?xml version="1.0"?>
<robot name="multisense_sl">

<!-- head from multisense_sl_v4.urdf -->

  <link name="head">
    <inertial>
      <origin xyz="-0.075493 3.3383E-05 0.02774" rpy="0 0 0" />
      <mass value="1.41984" />
      <inertia iyy="0.0041178" ixy="-1.5797E-06" iyz="-6.8415E-07" ixx="0.0039688" ixz="-0.00089293" izz="0.0035243" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="multisense_sl_description/meshes/head.dae" />
      </geometry>
      <material name="">
        <color rgba="0.9098 0.44314 0.031373 1" />
      </material>
    </visual>
  <collision>
    <origin xyz="-0.0503 0 -0.00195" rpy="0 0 0" />
    <geometry>
      <box size="0.1311 0.12 0.0591"/>
    </geometry>
  </collision>
  <collision>
    <origin xyz="-0.093 0 0.0868" rpy="0 0 0" />
    <geometry>
      <box size="0.0468 0.12 0.1184"/>
    </geometry>
  </collision>
  </link>



<!-- from atlas_v4_simple_shapes.urdf -->

  <link name="l_clav">
    <inertial>
      <mass value="4.466"/>
      <origin rpy="0 -0 0" xyz="0 -0.048 -0.084"/>
      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_clav.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0 -0.11 -0.248"/>
      <geometry>
        <cylinder length="0.1525" radius="0.0555"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.005 -0.015 -0.08"/>
      <geometry>
        <cylinder length="0.26" radius="0.067"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.05 0 0" xyz="0.004 -0.064 -0.247"/>
      <geometry>
        <box size="0.1 0.07 0.072"/>
      </geometry>
    </collision>
  </link>
  <link name="l_ufarm">
    <inertial>
      <mass value="4.386"/>
      <origin rpy="0 -0 0" xyz="0 0.065 0"/>
      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_v3/r_farm.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0.0 -0.13 0.004"/>
      <geometry>
        <cylinder length="0.125" radius="0.045"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.001 -0.053 -0.002"/>
      <geometry>
        <box size="0.135 0.1 0.045"/>
      </geometry>
    </collision>
  </link>
  <link name="l_foot">
    <inertial>
      <mass value="2.41"/>
      <origin rpy="0 -0 0" xyz="0.027 0 -0.067"/>
      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/l_foot.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.023 0 -0.049119"/>
      <geometry>
        <box size="0.227 0.133887 0.05"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.1225 0 -0.0641"/>
      <geometry>
        <box size="0.1 0.08 0.02"/>
      </geometry>
    </collision>
  </link>
  <link name="l_lfarm">
    <inertial>
      <mass value="2.509"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_v3/r_hand.dae" scale="1 1 1"/>
      </geometry>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.001 -0.1 -0.01"/>
      <geometry>
        <cylinder length="0.05" radius="0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.001 -0.05 -0.01"/>
      <geometry>
        <box size="0.13 0.09 0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="l_hand">
    <inertial>
      <mass value="1.0"/><!-- some mass required here for simulation stability -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.15 0.01"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
      <material name="dark">
        <color rgba="0.5 0.5 0.5 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.15 0.01"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <link name="l_larm">
    <inertial>
      <mass value="3.248"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_v3/r_larm.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.001 -0.127 0.00"/>
      <geometry>
        <cylinder length="0.125" radius="0.045"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.001 -0.051 0.0"/>
      <geometry>
        <box size="0.135 0.15 0.06"/>
      </geometry>
    </collision>
  </link>
  <link name="l_lglut">
    <inertial>
      <mass value="0.898"/>
      <origin rpy="0 -0 0" xyz="0.0133341 0.0170484 -0.0312052"/>
      <inertia ixx="0.000691326" ixy="-2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="0.000137862" izz="0.00106487"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/l_lglut.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.015 0.026 -0.028"/>
      <geometry>
        <box size="0.125 0.05 0.08"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.05 0.027488 -0.067"/>
      <geometry>
        <cylinder length="0.060306" radius="0.02009687"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0.0115 0 0"/>
      <geometry>
        <cylinder length="0.144" radius="0.02"/>
      </geometry>
    </collision>
  </link>
  <link name="l_lleg">
    <inertial>
      <mass value="4.515"/>
      <origin rpy="0 -0 0" xyz="0.001 0 -0.187"/>
      <inertia ixx="0.077" ixy="0" ixz="-0.003" iyy="0.076" iyz="0" izz="0.01"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/l_lleg.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0.10 0" xyz="0.02 0.00295 -0.182"/>
      <geometry>
        <cylinder length="0.40" radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="l_scap">
    <inertial>
      <mass value="3.899"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_scap.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="-0.005 -0.115 -0.014"/>
      <geometry>
        <cylinder length="0.105" radius="0.057"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.005 -0.075 -0.015"/>
      <geometry>
        <box size="0.16 0.17 0.08"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="2.25 0 0" xyz="0.076 -0.0615 0.0128"/>
      <geometry>
        <box size="0.02 0.029 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1 0 0" xyz="-0.075 0.015 0.019"/>
      <geometry>
        <box size="0.028 0.090 0.05"/>
      </geometry>
    </collision>
  </link>
  <link name="l_talus">
    <inertial>
      <mass value="0.125"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/l_talus.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.029542" radius="0.010181"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.010059" radius="0.010348"/>
      </geometry>
    </collision>
  </link>
  <link name="l_uarm">
    <inertial>
      <mass value="4.386"/>
      <origin rpy="0 -0 0" xyz="0 0.065 0"/>
      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_uarm.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5708 0 0" xyz="0.0 -0.035 0.00"/>
      <geometry>
        <cylinder length="0.11" radius="0.065"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="-0.005 -0.111 0.017"/>
      <geometry>
        <cylinder length="0.142" radius="0.047"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="-0.001 -0.043 0.01"/>
      <geometry>
        <box size="0.05 0.07 0.15"/>
      </geometry>
    </collision>
  </link>
  <link name="l_uglut">
    <inertial>
      <mass value="1.959"/>
      <origin rpy="0 -0 0" xyz="0.00529262 -0.00344732 0.00313046"/>
      <inertia ixx="0.00074276" ixy="-3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="-3.2735e-08" izz="0.00041242"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/l_uglut.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.52539 0 0" xyz="0.01 0.005 0"/>
      <geometry>
        <box size="0.05 0.1 0.1"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.080842" radius="0.019841"/>
      </geometry>
    </collision>
  </link>
  <link name="l_uleg">
    <inertial>
      <mass value="8.204"/>
      <origin rpy="0 -0 0" xyz="0 0 -0.21"/>
      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/l_uleg.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0199 0.00585 -0.122"/>
      <geometry>
        <cylinder length="0.15" radius="0.09"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 -0.3 0" xyz="-0.032 -0.005 -0.224"/>
      <geometry>
        <cylinder length="0.15" radius="0.07"/>
      </geometry>
    </collision>
    <!-- to cover the logo shield -->
    <collision>
      <origin rpy="-0.15 0.13 0" xyz="0.003 0.015 -0.254"/>
      <geometry>
        <cylinder length="0.15" radius="0.05"/>
      </geometry>
    </collision>
    <!-- inside strut -->
    <collision>
      <origin rpy="0.0 0.0 0" xyz="-0.007 -0.053 -0.052"/>
      <geometry>
        <box size="0.07 0.038 0.15"/>
      </geometry>
    </collision>
    <!-- outside strut -->
    <collision>
      <origin rpy="0.0 0.0 0" xyz="-0.017 0.0595 -0.049"/>
      <geometry>
        <box size="0.07 0.038 0.14"/>
      </geometry>
    </collision>
  </link>
  <link name="ltorso">
    <inertial>
      <mass value="2.270"/>
      <origin rpy="0 -0 0" xyz="-0.0112984 -3.15366e-06 0.0746835"/>
      <inertia ixx="0.0039092" ixy="-5.04491e-08" ixz="-0.000342157" iyy="0.00341694" iyz="4.87119e-07" izz="0.00174492"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/ltorso.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <!-- this produces unwanted self-collision -->
    <!--collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.11"/>
      </geometry>
    </collision-->
  </link>
  <link name="mtorso">
    <inertial>
      <mass value="0.799"/>
      <origin rpy="0 -0 0" xyz="-0.00816266 -0.0131245 0.0305974"/>
      <inertia ixx="0.000454181" ixy="-6.10764e-05" ixz="3.94009e-05" iyy="0.000483282" iyz="5.27463e-05" izz="0.000444215"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/mtorso.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.0 0 0.02"/>
      <geometry>
        <cylinder length="0.15" radius="0.02"/>
      </geometry>
    </collision>
  </link>
  <link name="pelvis">
    <inertial>
      <mass value="9.509"/>
      <origin rpy="0 -0 0" xyz="0.0111 0 0.0271"/>
      <inertia ixx="0.1244" ixy="0.0008" ixz="-0.0007" iyy="0.0958" iyz="-0.0005" izz="0.1167"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/pelvis.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.046 0.0 0.01"/>
      <geometry>
        <cylinder length="0.06" radius="0.11"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="-0.03 0.0 0.01"/>
      <geometry>
        <cylinder length="0.06" radius="0.11"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.01 0.042 0.09"/>
      <geometry>
        <cylinder length="0.05" radius="0.16"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.01 -0.042 0.09"/>
      <geometry>
        <cylinder length="0.05" radius="0.16"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.1 0 -0.02"/>
      <geometry>
        <box size="0.1 0.15 0.2"/>
      </geometry>
    </collision>
  </link>
  <link name="r_clav">
    <inertial>
      <mass value="4.466"/>
      <origin rpy="0 -0 0" xyz="0 -0.048 -0.084"/>
      <inertia ixx="0.011" ixy="0" ixz="0" iyy="0.009" iyz="0.004" izz="0.004"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_clav.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0 -0.11 -0.248"/>
      <geometry>
        <cylinder length="0.1525" radius="0.0555"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.005 -0.015 -0.08"/>
      <geometry>
        <cylinder length="0.26" radius="0.067"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.05 0 0" xyz="0.004 -0.064 -0.247"/>
      <geometry>
        <box size="0.1 0.07 0.072"/>
      </geometry>
    </collision>
  </link>
  <link name="r_ufarm">
    <inertial>
      <mass value="4.386"/>
      <origin rpy="0 -0 0" xyz="0 0.065 0"/>
      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_v3/r_farm.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5708 0" xyz="0.0 -0.13 0.004"/>
      <geometry>
        <cylinder length="0.125" radius="0.045"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.001 -0.053 -0.002"/>
      <geometry>
        <box size="0.135 0.1 0.045"/>
      </geometry>
    </collision>
  </link>
  <link name="r_foot">
    <inertial>
      <mass value="2.41"/>
      <origin rpy="0 -0 0" xyz="0.027 0 -0.067"/>
      <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.008"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_foot.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0.023 0 -0.049119"/>
      <geometry>
        <box size="0.227 0.133887 0.05"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.1225 0 -0.0641"/>
      <geometry>
        <box size="0.1 0.08 0.02"/>
      </geometry>
    </collision>
  </link>
  <link name="r_lfarm">
    <inertial>
      <mass value="2.509"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_v3/r_hand.dae" scale="1 1 1"/>
      </geometry>
      <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.001 -0.1 -0.01"/>
      <geometry>
        <cylinder length="0.05" radius="0.03"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.001 -0.05 -0.01"/>
      <geometry>
        <box size="0.13 0.09 0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="r_hand">
    <inertial>
      <mass value="1.0"/><!-- some mass required here for simulation stability -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 -0.15 -0.01"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
      <material name="dark">
        <color rgba="0.5 0.5 0.5 1" />
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.15 -0.01"/>
      <geometry>
        <sphere radius="0.03"/>
      </geometry>
    </collision>
  </link>
  <link name="r_larm">
    <inertial>
      <mass value="3.248"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="0.00265" ixy="0" ixz="0" iyy="0.00446" iyz="0" izz="0.00446"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_v3/r_larm.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.001 -0.127 0.00"/>
      <geometry>
        <cylinder length="0.125" radius="0.045"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0.001 -0.051 0.0"/>
      <geometry>
        <box size="0.135 0.15 0.06"/>
      </geometry>
    </collision>
  </link>
  <link name="r_lglut">
    <inertial>
      <mass value="0.898"/>
      <origin rpy="0 -0 0" xyz="0.0133341 -0.0170484 -0.0312052"/>
      <inertia ixx="0.000691326" ixy="2.24344e-05" ixz="2.50508e-06" iyy="0.00126856" iyz="-0.000137862" izz="0.00106487"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0.015 -0.026 -0.028"/>
      <geometry>
        <box size="0.125 0.05 0.08"/>
      </geometry>
    </collision>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_lglut.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0.05 -0.027488 -0.067"/>
      <geometry>
        <cylinder length="0.060306" radius="0.02009687"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0.0105 0 0"/>
      <geometry>
        <cylinder length="0.142" radius="0.02"/>
      </geometry>
    </collision>
  </link>
  <link name="r_lleg">
    <inertial>
      <mass value="4.515"/>
      <origin rpy="0 -0 0" xyz="0.001 0 -0.187"/>
      <inertia ixx="0.077" ixy="-0" ixz="-0.003" iyy="0.076" iyz="-0" izz="0.01"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_lleg.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0.10 0" xyz="0.02 -0.00295 -0.182"/>
      <geometry>
        <cylinder length="0.40" radius="0.07"/>
      </geometry>
    </collision>
  </link>
  <link name="r_scap">
    <inertial>
      <mass value="3.899"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="0.00319" ixy="0" ixz="0" iyy="0.00583" iyz="0" izz="0.00583"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_scap.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="-0.005 -0.115 -0.014"/>
      <geometry>
        <cylinder length="0.105" radius="0.057"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.005 -0.075 -0.015"/>
      <geometry>
        <box size="0.16 0.17 0.08"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="2.25 0 0" xyz="0.076 -0.0615 0.0128"/>
      <geometry>
        <box size="0.02 0.029 0.018"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1 0 0" xyz="-0.075 0.015 0.019"/>
      <geometry>
        <box size="0.028 0.090 0.05"/>
      </geometry>
    </collision>
  </link>
  <link name="r_talus">
    <inertial>
      <mass value="0.125"/>
      <origin rpy="0 -0 0" xyz="0 0 0"/>
      <inertia ixx="1.01674e-05" ixy="0" ixz="0" iyy="8.42775e-06" iyz="0" izz="1.30101e-05"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_talus.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.029542" radius="0.010181"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707963267949 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.010059" radius="0.010348"/>
      </geometry>
    </collision>
  </link>
  <link name="r_uarm">
    <inertial>
      <mass value="4.386"/>
      <origin rpy="0 -0 0" xyz="0 0.065 0"/>
      <inertia ixx="0.00656" ixy="0" ixz="0" iyy="0.00358" iyz="0" izz="0.00656"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_uarm.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.5708 0 0" xyz="0.0 -0.035 0.00"/>
      <geometry>
        <cylinder length="0.11" radius="0.065"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5708 0" xyz="-0.005 -0.111 0.017"/>
      <geometry>
        <cylinder length="0.142" radius="0.047"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5707963267949 0" xyz="-0.001 -0.043 0.01"/>
      <geometry>
        <box size="0.05 0.07 0.15"/>
      </geometry>
    </collision>
  </link>
  <link name="r_uglut">
    <inertial>
      <mass value="1.959"/>
      <origin rpy="0 -0 0" xyz="0.00529262 0.00344732 0.00313046"/>
      <inertia ixx="0.00074276" ixy="3.79607e-08" ixz="-2.79549e-05" iyy="0.000688179" iyz="3.2735e-08" izz="0.00041242"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_uglut.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="-0.52539 0 0" xyz="0.01 -0.005 0"/>
      <geometry>
        <box size="0.05 0.1 0.1"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.080842" radius="0.019841"/>
      </geometry>
    </collision>
  </link>
  <link name="r_uleg">
    <inertial>
      <mass value="8.204"/>
      <origin rpy="0 -0 0" xyz="0 0 -0.21"/>
      <inertia ixx="0.09" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/r_uleg.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.0199 -0.00585 -0.122"/>
      <geometry>
        <cylinder length="0.15" radius="0.09"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 -0.3 0" xyz="-0.032 0.005 -0.224"/>
      <geometry>
        <cylinder length="0.15" radius="0.07"/>
      </geometry>
    </collision>
    <!-- to cover the logo shield -->
    <collision>
      <origin rpy="0.15 0.13 0" xyz="0.003 -0.015 -0.254"/>
      <geometry>
        <cylinder length="0.15" radius="0.05"/>
      </geometry>
    </collision>
    <!-- inside strut -->
    <collision>
      <origin rpy="0.0 0.0 0" xyz="-0.007 0.053 -0.052"/>
      <geometry>
        <box size="0.07 0.038 0.15"/>
      </geometry>
    </collision>
    <!-- outside strut -->
    <collision>
      <origin rpy="0.0 0.0 0" xyz="-0.017 -0.0595 -0.049"/>
      <geometry>
        <box size="0.07 0.038 0.14"/>
      </geometry>
    </collision>
  </link>
  <!-- with backpack -->
  <link name="utorso">
    <inertial>
      <mass value="84.409"/>
      <origin rpy="0 -0 0" xyz="-0.0622 0.0023 0.3157"/>
      <inertia ixx="1.577" ixy="-0.032" ixz="0.102" iyy="1.602" iyz="0.047" izz="0.565"/>
    </inertial>
    <visual>
      <geometry>
        <mesh filename="meshes_unplugged/utorso.dae" scale="1 1 1"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.102 0 0.25"/>
      <geometry>
        <box size="0.4 0.35 0.5"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.5707 0" xyz="0.2 0 0.46"/>
      <geometry>
        <box size="0.13 0.50 0.10"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 1.7 0" xyz="0.2 0 0.285"/>
      <geometry>
        <box size="0.2 0.23 0.10"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 2.0 0" xyz="0.15 0 0.10"/>
      <geometry>
        <box size="0.2 0.18 0.10"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="-0.035 0 0.6265"/>
      <geometry>
        <box size="0.506306 0.341719 0.12"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707 0 0" xyz="0.208 0 0.8215"/>
      <geometry>
        <cylinder length="0.13" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.38535 0 0" xyz="0.208 -0.125 0.745"/>
      <geometry>
        <cylinder length="0.15" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.38535 0 0" xyz="0.208 0.125 0.745"/>
      <geometry>
        <cylinder length="0.15" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.38535 0 0" xyz="0.063 -0.125 0.745"/>
      <geometry>
        <cylinder length="0.15" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.38535 0 0" xyz="0.063 0.125 0.745"/>
      <geometry>
        <cylinder length="0.15" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707 0 1.5707" xyz="0.14 0.06 0.8215"/>
      <geometry>
        <cylinder length="0.15" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707 0 1.5707" xyz="0.14 -0.06 0.8215"/>
      <geometry>
        <cylinder length="0.15" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 -0.65 0" xyz="-0.029 0 0.731"/>
      <geometry>
        <box size="0.2 0.25 0.01"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707 0 0" xyz="0.063 0 0.8215"/>
      <geometry>
        <cylinder length="0.13" radius="0.008"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707 0 0" xyz="0.261 0.156 0.6215"/>
      <geometry>
        <cylinder length="0.016" radius="0.055"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.5707 0 0" xyz="0.261 -0.156 0.6215"/>
      <geometry>
        <cylinder length="0.016" radius="0.055"/>
      </geometry>
    </collision>
  </link>
  <joint name="back_bkx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 0.05"/>
    <axis xyz="1 0 0"/>
    <parent link="mtorso"/>
    <child link="utorso"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="300" lower="-0.523599" upper="0.523599" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
  </joint>
  <joint name="back_bky" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 0.162"/>
    <axis xyz="0 1 0"/>
    <parent link="ltorso"/>
    <child link="mtorso"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="445" lower="-0.219388" upper="0.538783" velocity="9"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.2194" soft_upper_limit="10.5388"/>
  </joint>
  <joint name="back_bkz" type="revolute">
    <origin rpy="0 -0 0" xyz="-0.0125 0 0"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="ltorso"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="106" lower="-0.663225" upper="0.663225" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6632" soft_upper_limit="10.6632"/>
  </joint>
  <joint name="l_arm_elx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.119 0.0092"/>
    <axis xyz="-1.0 -0.0 -0.0"/>
    <parent link="l_uarm"/>
    <child link="l_larm"/>
    <dynamics damping="0.2" friction="0"/>
    <limit effort="112" lower="0" upper="2.35619" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3562"/>
  </joint>
  <joint name="l_arm_ely" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.187 -0.016"/>
    <axis xyz="-0.0 -1.0 -0.0"/>
    <parent link="l_scap"/>
    <child link="l_uarm"/>
    <dynamics damping="0.2" friction="0"/>
    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
  </joint>
  <joint name="l_arm_shx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.11 -0.245"/>
    <axis xyz="-1.0 -0.0 -0.0"/>
    <parent link="l_clav"/>
    <child link="l_scap"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
  </joint>
  <joint name="l_arm_shz" type="revolute">
    <origin rpy="0 0 3.14159265359" xyz="0.1406 0.2256 0.4776"/>
    <axis xyz="0 0 1"/>
    <parent link="utorso"/>
    <child link="l_clav"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="87" lower="-1.5708" upper="0.785398" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="10.7854"/>
    <!-- note, this is opposite of v1 and v3 -->
  </joint>
  <joint name="l_arm_wrx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.119 0.0092"/>
    <axis xyz="1 0 0"/>
    <parent link="l_ufarm"/>
    <child link="l_lfarm"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="25" lower="-1.1781" upper="1.1781" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.1781" soft_upper_limit="11.1781"/>
  </joint>
  <joint name="l_arm_wry" type="revolute">
    <origin rpy="0 3.14159265359 0" xyz="0 -0.187 -0.0092"/>
    <axis xyz="-0.0 -1.0 -0.0"/>
    <parent link="l_larm"/>
    <child link="l_ufarm"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="25" lower="0" upper="3.14159" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
  </joint>
  <joint name="l_arm_wry2" type="revolute">
    <origin rpy="0 3.14159265359 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="l_lfarm"/>
    <child link="l_hand"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="5" lower="-0.001" upper="0.001" velocity="1"/>
    <safety_controller k_position="1" k_velocity="0.01" soft_lower_limit="0" soft_upper_limit="0.1"/>
  </joint>
  <joint name="l_leg_akx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="l_talus"/>
    <child link="l_foot"/>
    <dynamics damping="0.1" friction="0"/>
    <!--limit effort="360" lower="-0.8" upper="0.8" velocity="12"/-->
    <limit effort="45" lower="-0.8" upper="0.8" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
  </joint>
  <joint name="l_leg_aky" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 -0.422"/>
    <axis xyz="0 1 0"/>
    <parent link="l_lleg"/>
    <child link="l_talus"/>
    <dynamics damping="0.1" friction="0"/>
    <!--limit effort="740" lower="-1" upper="0.7" velocity="12"/-->
    <limit effort="92" lower="-1" upper="0.7" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
  </joint>
  <joint name="l_leg_hpx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="l_uglut"/>
    <child link="l_lglut"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
  </joint>
  <joint name="l_leg_hpy" type="revolute">
    <origin rpy="0 -0 0" xyz="0.05 0.0225 -0.066"/>
    <axis xyz="0 1 0"/>
    <parent link="l_lglut"/>
    <child link="l_uleg"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
  </joint>
  <joint name="l_leg_hpz" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0.089 0"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="l_uglut"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="275" lower="-0.174358" upper="0.786794" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.1744" soft_upper_limit="10.7868"/>
  </joint>
  <joint name="l_leg_kny" type="revolute">
    <origin rpy="0 -0 0" xyz="-0.05 0 -0.374"/>
    <axis xyz="0 1 0"/>
    <parent link="l_uleg"/>
    <child link="l_lleg"/>
    <dynamics damping="0.2" friction="0"/>
    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
  </joint>
  <joint name="neck_ry" type="revolute">
    <origin rpy="0 -0 0" xyz="0.2546 0 0.6215"/>
    <axis xyz="0 1 0"/>
    <parent link="utorso"/>
    <child link="head"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="5" lower="-0.602139" upper="1.14319" velocity="6.28"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.6021" soft_upper_limit="11.1432"/>
  </joint>
  <joint name="r_arm_elx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.119 0.0092"/>
    <axis xyz="1 0 0"/>
    <parent link="r_uarm"/>
    <child link="r_larm"/>
    <dynamics damping="0.2" friction="0"/>
    <limit effort="112" lower="-2.35619" upper="0" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-12.3562" soft_upper_limit="10"/>
  </joint>
  <joint name="r_arm_ely" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.187 -0.016"/>
    <axis xyz="0 1 0"/>
    <parent link="r_scap"/>
    <child link="r_uarm"/>
    <dynamics damping="0.2" friction="0"/>
    <limit effort="63" lower="0" upper="3.14159" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
  </joint>
  <joint name="r_arm_shx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.11 -0.245"/>
    <axis xyz="1 0 0"/>
    <parent link="r_clav"/>
    <child link="r_scap"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="99" lower="-1.5708" upper="1.5708" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.5708" soft_upper_limit="11.5708"/>
  </joint>
  <joint name="r_arm_shz" type="revolute">
    <origin rpy="0 -0 0" xyz="0.1406 -0.2256 0.4776"/>
    <axis xyz="0 0 1"/>
    <!-- note, this is opposite of v1 and v3 -->
    <parent link="utorso"/>
    <child link="r_clav"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="87" lower="-0.785398" upper="1.5708" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7854" soft_upper_limit="11.5708"/>
  </joint>
  <joint name="r_arm_wrx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.119 0.0092"/>
    <axis xyz="1 0 0"/>
    <parent link="r_ufarm"/>
    <child link="r_lfarm"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="25" lower="-1.1781" upper="1.1781" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.1781" soft_upper_limit="11.1781"/>
  </joint>
  <joint name="r_arm_wry" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.187 -0.0092"/>
    <axis xyz="0 1 0"/>
    <parent link="r_larm"/>
    <child link="r_ufarm"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="25" lower="0" upper="3.14159" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="13.1416"/>
  </joint>
  <joint name="r_arm_wry2" type="revolute">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
    <parent link="r_lfarm"/>
    <child link="r_hand"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="5" lower="-0.001" upper="0.001" velocity="1"/>
    <safety_controller k_position="1" k_velocity="0.01" soft_lower_limit="0" soft_upper_limit="0.1"/>
  </joint>
  <joint name="r_leg_akx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="r_talus"/>
    <child link="r_foot"/>
    <dynamics damping="0.1" friction="0"/>
    <!--limit effort="360" lower="-0.8" upper="0.8" velocity="12"/-->
    <limit effort="45" lower="-0.8" upper="0.8" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.8" soft_upper_limit="10.8"/>
  </joint>
  <joint name="r_leg_aky" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 -0.422"/>
    <axis xyz="0 1 0"/>
    <parent link="r_lleg"/>
    <child link="r_talus"/>
    <dynamics damping="0.1" friction="0"/>
    <!--limit effort="740" lower="-1" upper="0.7" velocity="12"/-->
    <limit effort="92" lower="-1" upper="0.7" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11" soft_upper_limit="10.7"/>
  </joint>
  <joint name="r_leg_hpx" type="revolute">
    <origin rpy="0 -0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <parent link="r_uglut"/>
    <child link="r_lglut"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="530" lower="-0.523599" upper="0.523599" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.5236" soft_upper_limit="10.5236"/>
  </joint>
  <joint name="r_leg_hpy" type="revolute">
    <origin rpy="0 -0 0" xyz="0.05 -0.0225 -0.066"/>
    <axis xyz="0 1 0"/>
    <parent link="r_lglut"/>
    <child link="r_uleg"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="840" lower="-1.61234" upper="0.65764" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-11.6123" soft_upper_limit="10.6576"/>
  </joint>
  <joint name="r_leg_hpz" type="revolute">
    <origin rpy="0 -0 0" xyz="0 -0.089 0"/>
    <axis xyz="0 0 1"/>
    <parent link="pelvis"/>
    <child link="r_uglut"/>
    <dynamics damping="0.1" friction="0"/>
    <limit effort="275" lower="-0.786794" upper="0.174358" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10.7868" soft_upper_limit="10.1744"/>
  </joint>
  <joint name="r_leg_kny" type="revolute">
    <origin rpy="0 -0 0" xyz="-0.05 0 -0.374"/>
    <axis xyz="0 1 0"/>
    <parent link="r_uleg"/>
    <child link="r_lleg"/>
    <dynamics damping="0.2" friction="0"/>
    <limit effort="890" lower="0" upper="2.35637" velocity="12"/>
    <safety_controller k_position="100" k_velocity="100" soft_lower_limit="-10" soft_upper_limit="12.3564"/>
  </joint>
</robot>

