Update robots/h1/urdf/h1.urdf

robots/h1/urdf/h1.urdf

@@ -1,1252 +1,1256 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
-Stephen Brawner ([email protected])
-     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
-<robot
-  name="h1_description">
-  <mujoco>
-    <compiler meshdir="../meshes" discardvisual="false" />
-  </mujoco>
-
-
-  <!-- [CAUTION] uncomment when convert to mujoco -->
-  <!-- <link name="world"></link>
-  <joint name="floating_base" type="floating">
-    <parent link="world" />
-    <child link="pelvis" />
-  </joint> -->
-
-
-  <link
-    name="pelvis">
-    <inertial>
-      <origin
-        xyz="-0.0002 4E-05 -0.04522"
-        rpy="0 0 0" />
-      <mass
-        value="5.39" />
-      <inertia
-        ixx="0.044582"
-        ixy="8.7034E-05"
-        ixz="-1.9893E-05"
-        iyy="0.0082464"
-        iyz="4.021E-06"
-        izz="0.049021" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/pelvis.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-    </collision>
-  </link>
-  <link
-    name="left_hip_yaw_link">
-    <inertial>
-      <origin
-        xyz="-0.04923 0.0001 0.0072"
-        rpy="0 0 0" />
-      <mass
-        value="2.244" />
-      <inertia
-        ixx="0.0025731"
-        ixy="9.159E-06"
-        ixz="-0.00051948"
-        iyy="0.0030444"
-        iyz="1.949E-06"
-        izz="0.0022883" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_hip_yaw_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <!-- [CAUTION] use cylinder for hip_yaw_link -->
-    <collision>
-      <!-- <origin
-        xyz="-0.067 0 0"
-        rpy="0 1.57075 0" />
-      <geometry>
-        <cylinder length="0.07" radius="0.06" />
-      </geometry> -->
-    </collision>
-  </link>
-  <joint
-    name="left_hip_yaw"
-    type="revolute">
-    <origin
-      xyz="0 0.0875 -0.1742"
-      rpy="0 0 0" />
-    <parent
-      link="pelvis" />
-    <child
-      link="left_hip_yaw_link" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="-0.43"
-      upper="0.43"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="left_hip_roll_link">
-    <inertial>
-      <origin
-        xyz="-0.0058 -0.00319 -9E-05"
-        rpy="0 0 0" />
-      <mass
-        value="2.232" />
-      <inertia
-        ixx="0.0020603"
-        ixy="3.2115E-05"
-        ixz="2.878E-06"
-        iyy="0.0022482"
-        iyz="-7.813E-06"
-        izz="0.0024323" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_hip_roll_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0.01 0"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.12 0.1" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="left_hip_roll"
-    type="revolute">
-    <origin
-      xyz="0.039468 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="left_hip_yaw_link" />
-    <child
-      link="left_hip_roll_link" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.43"
-      upper="0.43"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="left_hip_pitch_link">
-    <inertial>
-      <origin
-        xyz="0.00746 -0.02346 -0.08193"
-        rpy="0 0 0" />
-      <mass
-        value="4.152" />
-      <inertia
-        ixx="0.082618"
-        ixy="-0.00066654"
-        ixz="0.0040725"
-        iyy="0.081579"
-        iyz="0.0072024"
-        izz="0.0060081" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_hip_pitch_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0.03 0 -0.16"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.06 0.05 0.44" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="left_hip_pitch"
-    type="revolute">
-    <origin
-      xyz="0 0.11536 0"
-      rpy="0 0 0" />
-    <parent
-      link="left_hip_roll_link" />
-    <child
-      link="left_hip_pitch_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.57"
-      upper="1.57"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="left_knee_link">
-    <inertial>
-      <origin
-        xyz="-0.00136 -0.00512 -0.1384"
-        rpy="0 0 0" />
-      <mass
-        value="1.721" />
-      <inertia
-        ixx="0.012205"
-        ixy="-6.8431E-05"
-        ixz="0.0010862"
-        iyy="0.012509"
-        iyz="0.00022549"
-        izz="0.0020629" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_knee_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0.025 0 -0.18"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.05 0.05 0.36" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="left_knee"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.4"
-      rpy="0 0 0" />
-    <parent
-      link="left_hip_pitch_link" />
-    <child
-      link="left_knee_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-0.26"
-      upper="2.05"
-      effort="300"
-      velocity="14" />
-  </joint>
-  <link
-    name="left_ankle_link">
-    <inertial>
-      <origin
-        xyz="0.048568 0 -0.045609"
-        rpy="0 0 0" />
-      <mass
-        value="0.552448" />
-      <inertia
-        ixx="0.000156"
-        ixy="0"
-        ixz="0.000143"
-        iyy="0.003620"
-        iyz="0"
-        izz="0.003551" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_ankle_link_modified.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_ankle_link_modified.STL" />
-      </geometry>
-      <!-- <sdf resolution="64"/> -->
-    </collision>
-  </link>
-  <joint
-    name="left_ankle"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.4"
-      rpy="0 0 0" />
-    <parent
-      link="left_knee_link" />
-    <child
-      link="left_ankle_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-0.87"
-      upper="0.52"
-      effort="40"
-      velocity="9" />
-  </joint>
-  <link
-    name="right_hip_yaw_link">
-    <inertial>
-      <origin
-        xyz="-0.04923 -0.0001 0.0072"
-        rpy="0 0 0" />
-      <mass
-        value="2.244" />
-      <inertia
-        ixx="0.0025731"
-        ixy="-9.159E-06"
-        ixz="-0.00051948"
-        iyy="0.0030444"
-        iyz="-1.949E-06"
-        izz="0.0022883" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_hip_yaw_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <!-- [CAUTION] use cylinder for hip_yaw_link -->
-    <collision>
-      <!-- <origin
-        xyz="-0.067 0 0"
-        rpy="0 1.57075 0" />
-      <geometry>
-        <cylinder length="0.07" radius="0.06" />
-      </geometry> -->
-    </collision>
-  </link>
-  <joint
-    name="right_hip_yaw"
-    type="revolute">
-    <origin
-      xyz="0 -0.0875 -0.1742"
-      rpy="0 0 0" />
-    <parent
-      link="pelvis" />
-    <child
-      link="right_hip_yaw_link" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="-0.43"
-      upper="0.43"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="right_hip_roll_link">
-    <inertial>
-      <origin
-        xyz="-0.0058 0.00319 -9E-05"
-        rpy="0 0 0" />
-      <mass
-        value="2.232" />
-      <inertia
-        ixx="0.0020603"
-        ixy="-3.2115E-05"
-        ixz="2.878E-06"
-        iyy="0.0022482"
-        iyz="7.813E-06"
-        izz="0.0024323" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_hip_roll_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 -0.01 0"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.12 0.1" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="right_hip_roll"
-    type="revolute">
-    <origin
-      xyz="0.039468 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="right_hip_yaw_link" />
-    <child
-      link="right_hip_roll_link" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.43"
-      upper="0.43"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="right_hip_pitch_link">
-    <inertial>
-      <origin
-        xyz="0.00746 0.02346 -0.08193"
-        rpy="0 0 0" />
-      <mass
-        value="4.152" />
-      <inertia
-        ixx="0.082618"
-        ixy="0.00066654"
-        ixz="0.0040725"
-        iyy="0.081579"
-        iyz="-0.0072024"
-        izz="0.0060081" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_hip_pitch_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0.03 0 -0.16"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.06 0.05 0.44" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="right_hip_pitch"
-    type="revolute">
-    <origin
-      xyz="0 -0.11536 0"
-      rpy="0 0 0" />
-    <parent
-      link="right_hip_roll_link" />
-    <child
-      link="right_hip_pitch_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.57"
-      upper="1.57"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="right_knee_link">
-    <inertial>
-      <origin
-        xyz="-0.00136 0.00512 -0.1384"
-        rpy="0 0 0" />
-      <mass
-        value="1.721" />
-      <inertia
-        ixx="0.012205"
-        ixy="6.8431E-05"
-        ixz="0.0010862"
-        iyy="0.012509"
-        iyz="-0.00022549"
-        izz="0.0020629" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_knee_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0.025 0 -0.18"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.05 0.05 0.36" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="right_knee"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.4"
-      rpy="0 0 0" />
-    <parent
-      link="right_hip_pitch_link" />
-    <child
-      link="right_knee_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-0.26"
-      upper="2.05"
-      effort="300"
-      velocity="14" />
-  </joint>
-  <link
-    name="right_ankle_link">
-    <inertial>
-      <origin
-        xyz="0.048568 0 -0.045609"
-        rpy="0 0 0" />
-      <mass
-        value="0.552448" />
-      <inertia
-        ixx="0.000156"
-        ixy="0"
-        ixz="0.000143"
-        iyy="0.003620"
-        iyz="0"
-        izz="0.003551" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_ankle_link_modified.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_ankle_link_modified.STL" />
-      </geometry>
-      <!-- <sdf resolution="64"/> -->
-    </collision>
-  </link>
-  <joint
-    name="right_ankle"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.4"
-      rpy="0 0 0" />
-    <parent
-      link="right_knee_link" />
-    <child
-      link="right_ankle_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-0.87"
-      upper="0.52"
-      effort="40"
-      velocity="9" />
-  </joint>
-  <link
-    name="torso_link">
-    <inertial>
-      <origin
-        xyz="0.000489 0.002797 0.20484"
-        rpy="0 0 0" />
-      <mass
-        value="17.789" />
-      <inertia
-        ixx="0.4873"
-        ixy="-0.00053763"
-        ixz="0.0020276"
-        iyy="0.40963"
-        iyz="-0.00074582"
-        izz="0.12785" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/torso_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0.245"
-        rpy="0 0 0" />
-      <geometry>
-        <box
-          size="0.14 0.2 0.45" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="torso"
-    type="revolute">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="pelvis" />
-    <child
-      link="torso_link" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="-2.35"
-      upper="2.35"
-      effort="200"
-      velocity="23" />
-  </joint>
-  <link
-    name="left_shoulder_pitch_link">
-    <inertial>
-      <origin
-        xyz="0.005045 0.053657 -0.015715"
-        rpy="0 0 0" />
-      <mass
-        value="1.033" />
-      <inertia
-        ixx="0.0012985"
-        ixy="-1.7333E-05"
-        ixz="8.683E-06"
-        iyy="0.00087279"
-        iyz="3.9656E-05"
-        izz="0.00097338" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_shoulder_pitch_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <!-- <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_shoulder_pitch_link.STL" />
-      </geometry>
-    </collision> -->
-  </link>
-  <joint
-    name="left_shoulder_pitch"
-    type="revolute">
-    <origin
-      xyz="0.0055 0.15535 0.42999"
-      rpy="0.43633 0 0" />
-    <parent
-      link="torso_link" />
-    <child
-      link="left_shoulder_pitch_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-2.87"
-      upper="2.87"
-      effort="40"
-      velocity="9" />
-  </joint>
-  <link
-    name="left_shoulder_roll_link">
-    <inertial>
-      <origin
-        xyz="0.000679 0.00115 -0.094076"
-        rpy="0 0 0" />
-      <mass
-        value="0.793" />
-      <inertia
-        ixx="0.0015742"
-        ixy="2.298E-06"
-        ixz="-7.2265E-05"
-        iyy="0.0016973"
-        iyz="-6.3691E-05"
-        izz="0.0010183" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_shoulder_roll_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 -0.045"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.09 0.09 0.16" />  <!-- r = 0.1 -->
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="left_shoulder_roll"
-    type="revolute">
-    <origin
-      xyz="-0.0055 0.0565 -0.0165"
-      rpy="-0.43633 0 0" />
-    <parent
-      link="left_shoulder_pitch_link" />
-    <child
-      link="left_shoulder_roll_link" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-0.34"
-      upper="3.11"
-      effort="40"
-      velocity="9" />
-  </joint>
-  <link
-    name="left_shoulder_yaw_link">
-    <inertial>
-      <origin
-        xyz="0.01365 0.002767 -0.16266"
-        rpy="0 0 0" />
-      <mass
-        value="0.839" />
-      <inertia
-        ixx="0.003664"
-        ixy="-1.0671E-05"
-        ixz="0.00034733"
-        iyy="0.0040789"
-        iyz="7.0213E-05"
-        izz="0.00066383" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_shoulder_yaw_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 -0.08"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.06 0.06 0.16" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="left_shoulder_yaw"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.1343"
-      rpy="0 0 0" />
-    <parent
-      link="left_shoulder_roll_link" />
-    <child
-      link="left_shoulder_yaw_link" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="-1.3"
-      upper="4.45"
-      effort="18"
-      velocity="20" />
-  </joint>
-  <link
-    name="left_elbow_link">
-    <inertial>
-      <origin
-        xyz="0.15908 -0.000144 -0.015776"
-        rpy="0 0 0" />
-      <mass
-        value="0.669" />
-      <inertia
-        ixx="0.00042388"
-        ixy="-3.6086E-05"
-        ixz="0.00029293"
-        iyy="0.0060062"
-        iyz="4.664E-06"
-        izz="0.0060023" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/left_elbow_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0.18 0 -0.013"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.28 0.06 0.06" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="left_elbow"
-    type="revolute">
-    <origin
-      xyz="0.0185 0 -0.198"
-      rpy="0 0 0" />
-    <parent
-      link="left_shoulder_yaw_link" />
-    <child
-      link="left_elbow_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.25"
-      upper="2.61"
-      effort="18"
-      velocity="20" />
-  </joint>
-  <link
-    name="right_shoulder_pitch_link">
-    <inertial>
-      <origin
-        xyz="0.005045 -0.053657 -0.015715"
-        rpy="0 0 0" />
-      <mass
-        value="1.033" />
-      <inertia
-        ixx="0.0012985"
-        ixy="1.7333E-05"
-        ixz="8.683E-06"
-        iyy="0.00087279"
-        iyz="-3.9656E-05"
-        izz="0.00097338" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_shoulder_pitch_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <!-- <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_shoulder_pitch_link.STL" />
-      </geometry> -->
-    </collision>
-  </link>
-  <joint
-    name="right_shoulder_pitch"
-    type="revolute">
-    <origin
-      xyz="0.0055 -0.15535 0.42999"
-      rpy="-0.43633 0 0" />
-    <parent
-      link="torso_link" />
-    <child
-      link="right_shoulder_pitch_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-2.87"
-      upper="2.87"
-      effort="40"
-      velocity="9" />
-  </joint>
-  <link
-    name="right_shoulder_roll_link">
-    <inertial>
-      <origin
-        xyz="0.000679 -0.00115 -0.094076"
-        rpy="0 0 0" />
-      <mass
-        value="0.793" />
-      <inertia
-        ixx="0.0015742"
-        ixy="-2.298E-06"
-        ixz="-7.2265E-05"
-        iyy="0.0016973"
-        iyz="6.3691E-05"
-        izz="0.0010183" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_shoulder_roll_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 -0.045"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.09 0.09 0.16" />  <!-- r = 0.1 -->
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="right_shoulder_roll"
-    type="revolute">
-    <origin
-      xyz="-0.0055 -0.0565 -0.0165"
-      rpy="0.43633 0 0" />
-    <parent
-      link="right_shoulder_pitch_link" />
-    <child
-      link="right_shoulder_roll_link" />
-    <axis
-      xyz="1 0 0" />
-    <limit
-      lower="-3.11"
-      upper="0.34"
-      effort="40"
-      velocity="9" />
-  </joint>
-  <link
-    name="right_shoulder_yaw_link">
-    <inertial>
-      <origin
-        xyz="0.01365 -0.002767 -0.16266"
-        rpy="0 0 0" />
-      <mass
-        value="0.839" />
-      <inertia
-        ixx="0.003664"
-        ixy="1.0671E-05"
-        ixz="0.00034733"
-        iyy="0.0040789"
-        iyz="-7.0213E-05"
-        izz="0.00066383" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_shoulder_yaw_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 -0.08"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.06 0.06 0.16" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="right_shoulder_yaw"
-    type="revolute">
-    <origin
-      xyz="0 0 -0.1343"
-      rpy="0 0 0" />
-    <parent
-      link="right_shoulder_roll_link" />
-    <child
-      link="right_shoulder_yaw_link" />
-    <axis
-      xyz="0 0 1" />
-    <limit
-      lower="-4.45"
-      upper="1.3"
-      effort="18"
-      velocity="20" />
-  </joint>
-  <link
-    name="right_elbow_link">
-    <inertial>
-      <origin
-        xyz="0.15908 0.000144 -0.015776"
-        rpy="0 0 0" />
-      <mass
-        value="0.669" />
-      <inertia
-        ixx="0.00042388"
-        ixy="3.6086E-05"
-        ixz="0.00029293"
-        iyy="0.0060062"
-        iyz="-4.664E-06"
-        izz="0.0060023" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/right_elbow_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.1 0.1 0.1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0.18 0 -0.013"
-        rpy="0 0 0" />
-      <geometry>
-        <box size="0.28 0.06 0.06" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="right_elbow"
-    type="revolute">
-    <origin
-      xyz="0.0185 0 -0.198"
-      rpy="0 0 0" />
-    <parent
-      link="right_shoulder_yaw_link" />
-    <child
-      link="right_elbow_link" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="-1.25"
-      upper="2.61"
-      effort="18"
-      velocity="20" />
-  </joint>
-  <link name="imu_link"></link>
-  <joint
-    name="imu"
-    type="fixed">
-    <origin
-      xyz="-0.04452 -0.01891 0.27756"
-      rpy="0 0 0" />
-    <parent
-      link="torso_link" />
-    <child
-      link="imu_link" />
-  </joint>
-  <link
-    name="logo_link">
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="../meshes/logo_link.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-  </link>
-  <joint
-    name="logo"
-    type="fixed">
-    <origin
-      xyz="0 0 0"
-      rpy="0 0 0" />
-    <parent
-      link="torso_link" />
-    <child
-      link="logo_link" />
-    <axis
-      xyz="0 0 0" />
-  </joint>
-  <link name="left_foot_link"></link>
-  <joint
-    name="left_foot"
-    type="fixed">
-    <origin
-      xyz="0 0 -0.05"
-      rpy="0 0 0" />
-    <parent
-      link="left_ankle_link" />
-    <child
-      link="left_foot_link" />
-  </joint>
-
-  <link name="right_foot_link"></link>
-  <joint
-    name="right_foot"
-    type="fixed">
-    <origin
-      xyz="0 0 -0.05"
-      rpy="0 0 0" />
-    <parent
-      link="right_ankle_link" />
-    <child
-      link="right_foot_link" />
-  </joint>
-
-  <link name="head_link"></link>
-  <joint
-    name="head"
-    type="fixed">
-    <origin
-      xyz="0 0 0.7"
-      rpy="0 0 0" />
-    <parent
-      link="torso_link" />
-    <child
-      link="head_link" />
-  </joint>
-
-  <link name="left_hand_link"></link>
-  <joint
-    name="left_hand"
-    type="fixed">
-    <origin
-      xyz="0.31 0 -0.01"
-      rpy="0 0 0" />
-    <parent
-      link="left_elbow_link" />
-    <child
-      link="left_hand_link" />
-  </joint>
-
-  <link name="right_hand_link"></link>
-  <joint
-    name="right_hand"
-    type="fixed">
-    <origin
-      xyz="0.31 0 -0.01"
-      rpy="0 0 0" />
-    <parent
-      link="right_elbow_link" />
-    <child
-      link="right_hand_link" />
-  </joint>
-</robot>
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
+Stephen Brawner ([email protected])
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="h1_description">
+  <mujoco>
+    <compiler meshdir="../meshes" discardvisual="false" />
+  </mujoco>
+
+
+  <!-- [CAUTION] uncomment when convert to mujoco -->
+  <!-- <link name="world"></link>
+  <joint name="floating_base" type="floating">
+    <parent link="world" />
+    <child link="pelvis" />
+  </joint> -->
+
+
+  <link
+    name="pelvis">
+    <inertial>
+      <origin
+        xyz="-0.0002 4E-05 -0.04522"
+        rpy="0 0 0" />
+      <mass
+        value="5.39" />
+      <inertia
+        ixx="0.044582"
+        ixy="8.7034E-05"
+        ixz="-1.9893E-05"
+        iyy="0.0082464"
+        iyz="4.021E-06"
+        izz="0.049021" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/pelvis.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.001 0.001 0.001" />
+      </geometry>
+    </collision>
+  </link>
+  <link
+    name="left_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <!-- [CAUTION] use cylinder for hip_yaw_link -->
+    <collision>
+      <origin
+        xyz="-0.067 0 0"
+        rpy="0 1.57075 0" />
+      <geometry>
+        <cylinder length="0.07" radius="0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_yaw"
+    type="revolute">
+    <origin
+      xyz="0 0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="left_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 -0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="-7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0.01 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.1 0.12 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_roll"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_yaw_link" />
+    <child
+      link="left_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 -0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="-0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.03 0 -0.16"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.05 0.44" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_hip_pitch"
+    type="revolute">
+    <origin
+      xyz="0 0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_roll_link" />
+    <child
+      link="left_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_knee_link">
+    <inertial>
+      <origin
+        xyz="-0.00136 -0.00512 -0.1384"
+        rpy="0 0 0" />
+      <mass
+        value="1.721" />
+      <inertia
+        ixx="0.012205"
+        ixy="-6.8431E-05"
+        ixz="0.0010862"
+        iyy="0.012509"
+        iyz="0.00022549"
+        izz="0.0020629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.025 0 -0.18"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.05 0.36" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_knee"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_hip_pitch_link" />
+    <child
+      link="left_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="left_ankle_link">
+    <inertial>
+      <origin
+        xyz="0.048568 0 -0.045609"
+        rpy="0 0 0" />
+      <mass
+        value="0.552448" />
+      <inertia
+        ixx="0.000156"
+        ixy="0"
+        ixz="0.000143"
+        iyy="0.003620"
+        iyz="0"
+        izz="0.003551" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_link_modified.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_ankle_link_modified.STL" />
+      </geometry>
+      <!-- <sdf resolution="64"/> -->
+    </collision>
+  </link>
+  <joint
+    name="left_ankle"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="left_knee_link" />
+    <child
+      link="left_ankle_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.52"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_hip_yaw_link">
+    <inertial>
+      <origin
+        xyz="-0.04923 -0.0001 0.0072"
+        rpy="0 0 0" />
+      <mass
+        value="2.244" />
+      <inertia
+        ixx="0.0025731"
+        ixy="-9.159E-06"
+        ixz="-0.00051948"
+        iyy="0.0030444"
+        iyz="-1.949E-06"
+        izz="0.0022883" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <!-- [CAUTION] use cylinder for hip_yaw_link -->
+    <collision>
+      <origin
+        xyz="-0.067 0 0"
+        rpy="0 1.57075 0" />
+      <geometry>
+        <cylinder length="0.07" radius="0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_yaw"
+    type="revolute">
+    <origin
+      xyz="0 -0.0875 -0.1742"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="right_hip_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_roll_link">
+    <inertial>
+      <origin
+        xyz="-0.0058 0.00319 -9E-05"
+        rpy="0 0 0" />
+      <mass
+        value="2.232" />
+      <inertia
+        ixx="0.0020603"
+        ixy="-3.2115E-05"
+        ixz="2.878E-06"
+        iyy="0.0022482"
+        iyz="7.813E-06"
+        izz="0.0024323" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 -0.01 0"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.1 0.12 0.1" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_roll"
+    type="revolute">
+    <origin
+      xyz="0.039468 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_yaw_link" />
+    <child
+      link="right_hip_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.43"
+      upper="0.43"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_hip_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.00746 0.02346 -0.08193"
+        rpy="0 0 0" />
+      <mass
+        value="4.152" />
+      <inertia
+        ixx="0.082618"
+        ixy="0.00066654"
+        ixz="0.0040725"
+        iyy="0.081579"
+        iyz="-0.0072024"
+        izz="0.0060081" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_hip_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.03 0 -0.16"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.05 0.44" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_hip_pitch"
+    type="revolute">
+    <origin
+      xyz="0 -0.11536 0"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_roll_link" />
+    <child
+      link="right_hip_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.57"
+      upper="1.57"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="right_knee_link">
+    <inertial>
+      <origin
+        xyz="-0.00136 0.00512 -0.1384"
+        rpy="0 0 0" />
+      <mass
+        value="1.721" />
+      <inertia
+        ixx="0.012205"
+        ixy="6.8431E-05"
+        ixz="0.0010862"
+        iyy="0.012509"
+        iyz="-0.00022549"
+        izz="0.0020629" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_knee_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.025 0 -0.18"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.05 0.36" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_knee"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_hip_pitch_link" />
+    <child
+      link="right_knee_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.26"
+      upper="2.05"
+      effort="300"
+      velocity="14" />
+  </joint>
+  <link
+    name="right_ankle_link">
+    <inertial>
+      <origin
+        xyz="0.048568 0 -0.045609"
+        rpy="0 0 0" />
+      <mass
+        value="0.552448" />
+      <inertia
+        ixx="0.000156"
+        ixy="0"
+        ixz="0.000143"
+        iyy="0.003620"
+        iyz="0"
+        izz="0.003551" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_link_modified.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_ankle_link_modified.STL" />
+      </geometry>
+      <!-- <sdf resolution="64"/> -->
+    </collision>
+  </link>
+  <joint
+    name="right_ankle"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.4"
+      rpy="0 0 0" />
+    <parent
+      link="right_knee_link" />
+    <child
+      link="right_ankle_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-0.87"
+      upper="0.52"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="torso_link">
+    <inertial>
+      <origin
+        xyz="0.000489 0.002797 0.20484"
+        rpy="0 0 0" />
+      <mass
+        value="17.789" />
+      <inertia
+        ixx="0.4873"
+        ixy="-0.00053763"
+        ixz="0.0020276"
+        iyy="0.40963"
+        iyz="-0.00074582"
+        izz="0.12785" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/torso_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0.245"
+        rpy="0 0 0" />
+      <geometry>
+        <box
+          size="0.14 0.2 0.45" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="torso"
+    type="revolute">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="pelvis" />
+    <child
+      link="torso_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-2.35"
+      upper="2.35"
+      effort="200"
+      velocity="23" />
+  </joint>
+  <link
+    name="left_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="-1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0055 0.15535 0.42999"
+      rpy="0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="left_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.87"
+      upper="2.87"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="-6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.045"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.09 0.09 0.16" />  <!-- r = 0.1 -->
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0055 0.0565 -0.0165"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="left_shoulder_pitch_link" />
+    <child
+      link="left_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-0.34"
+      upper="3.11"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="left_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="-1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.08"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.06 0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_shoulder_yaw"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_roll_link" />
+    <child
+      link="left_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-1.3"
+      upper="4.45"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="left_elbow_link">
+    <inertial>
+      <origin
+        xyz="0.15908 -0.000144 -0.015776"
+        rpy="0 0 0" />
+      <mass
+        value="0.669" />
+      <inertia
+        ixx="0.00042388"
+        ixy="-3.6086E-05"
+        ixz="0.00029293"
+        iyy="0.0060062"
+        iyz="4.664E-06"
+        izz="0.0060023" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/left_elbow_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.18 0 -0.013"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.28 0.06 0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="left_elbow"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="left_shoulder_yaw_link" />
+    <child
+      link="left_elbow_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="2.61"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_shoulder_pitch_link">
+    <inertial>
+      <origin
+        xyz="0.005045 -0.053657 -0.015715"
+        rpy="0 0 0" />
+      <mass
+        value="1.033" />
+      <inertia
+        ixx="0.0012985"
+        ixy="1.7333E-05"
+        ixz="8.683E-06"
+        iyy="0.00087279"
+        iyz="-3.9656E-05"
+        izz="0.00097338" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_pitch_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_pitch"
+    type="revolute">
+    <origin
+      xyz="0.0055 -0.15535 0.42999"
+      rpy="-0.43633 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="right_shoulder_pitch_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-2.87"
+      upper="2.87"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_roll_link">
+    <inertial>
+      <origin
+        xyz="0.000679 -0.00115 -0.094076"
+        rpy="0 0 0" />
+      <mass
+        value="0.793" />
+      <inertia
+        ixx="0.0015742"
+        ixy="-2.298E-06"
+        ixz="-7.2265E-05"
+        iyy="0.0016973"
+        iyz="6.3691E-05"
+        izz="0.0010183" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_roll_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.045"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.09 0.09 0.16" />  <!-- r = 0.1 -->
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_roll"
+    type="revolute">
+    <origin
+      xyz="-0.0055 -0.0565 -0.0165"
+      rpy="0.43633 0 0" />
+    <parent
+      link="right_shoulder_pitch_link" />
+    <child
+      link="right_shoulder_roll_link" />
+    <axis
+      xyz="1 0 0" />
+    <limit
+      lower="-3.11"
+      upper="0.34"
+      effort="40"
+      velocity="9" />
+  </joint>
+  <link
+    name="right_shoulder_yaw_link">
+    <inertial>
+      <origin
+        xyz="0.01365 -0.002767 -0.16266"
+        rpy="0 0 0" />
+      <mass
+        value="0.839" />
+      <inertia
+        ixx="0.003664"
+        ixy="1.0671E-05"
+        ixz="0.00034733"
+        iyy="0.0040789"
+        iyz="-7.0213E-05"
+        izz="0.00066383" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_shoulder_yaw_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 -0.08"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.06 0.06 0.16" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_shoulder_yaw"
+    type="revolute">
+    <origin
+      xyz="0 0 -0.1343"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_roll_link" />
+    <child
+      link="right_shoulder_yaw_link" />
+    <axis
+      xyz="0 0 1" />
+    <limit
+      lower="-4.45"
+      upper="1.3"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link
+    name="right_elbow_link">
+    <inertial>
+      <origin
+        xyz="0.15908 0.000144 -0.015776"
+        rpy="0 0 0" />
+      <mass
+        value="0.669" />
+      <inertia
+        ixx="0.00042388"
+        ixy="3.6086E-05"
+        ixz="0.00029293"
+        iyy="0.0060062"
+        iyz="-4.664E-06"
+        izz="0.0060023" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/right_elbow_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.1 0.1 0.1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0.18 0 -0.013"
+        rpy="0 0 0" />
+      <geometry>
+        <box size="0.28 0.06 0.06" />
+      </geometry>
+    </collision>
+  </link>
+  <joint
+    name="right_elbow"
+    type="revolute">
+    <origin
+      xyz="0.0185 0 -0.198"
+      rpy="0 0 0" />
+    <parent
+      link="right_shoulder_yaw_link" />
+    <child
+      link="right_elbow_link" />
+    <axis
+      xyz="0 1 0" />
+    <limit
+      lower="-1.25"
+      upper="2.61"
+      effort="18"
+      velocity="20" />
+  </joint>
+  <link name="imu_link"></link>
+  <joint
+    name="imu"
+    type="fixed">
+    <origin
+      xyz="-0.04452 -0.01891 0.27756"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="imu_link" />
+  </joint>
+  <link
+    name="logo_link">
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="../meshes/logo_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="1 1 1 1" />
+      </material>
+    </visual>
+  </link>
+  <joint
+    name="logo"
+    type="fixed">
+    <origin
+      xyz="0 0 0"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="logo_link" />
+    <axis
+      xyz="0 0 0" />
+  </joint>
+  <link name="left_foot_link"></link>
+  <joint
+    name="left_foot"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.05"
+      rpy="0 0 0" />
+    <parent
+      link="left_ankle_link" />
+    <child
+      link="left_foot_link" />
+  </joint>
+
+  <link name="right_foot_link"></link>
+  <joint
+    name="right_foot"
+    type="fixed">
+    <origin
+      xyz="0 0 -0.05"
+      rpy="0 0 0" />
+    <parent
+      link="right_ankle_link" />
+    <child
+      link="right_foot_link" />
+  </joint>
+
+  <link name="head_link"></link>
+  <joint
+    name="head"
+    type="fixed">
+    <origin
+      xyz="0 0 0.7"
+      rpy="0 0 0" />
+    <parent
+      link="torso_link" />
+    <child
+      link="head_link" />
+  </joint>
+
+  <link name="left_hand_link"></link>
+  <joint
+    name="left_hand"
+    type="fixed">
+    <origin
+      xyz="0.31 0 -0.01"
+      rpy="0 0 0" />
+    <parent
+      link="left_elbow_link" />
+    <child
+      link="left_hand_link" />
+  </joint>
+
+  <link name="right_hand_link"></link>
+  <joint
+    name="right_hand"
+    type="fixed">
+    <origin
+      xyz="0.31 0 -0.01"
+      rpy="0 0 0" />
+    <parent
+      link="right_elbow_link" />
+    <child
+      link="right_hand_link" />
+  </joint>
+</robot>