<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/3fb6fc43af8407628b8a436e/w/97510b712561d1cd4f61c300/e/926f5c272b7ea2919e153a0d -->
<robot name="upper_body">
  <!-- Link body_link -->
  <link name="body_link">
    <inertial>
      <origin xyz="-0.00770062 -4.54985e-06 -0.105557" rpy="0 0 0"/>
      <mass value="14.6288"/>
      <inertia ixx="0.245371" ixy="-1.70664e-06" ixz="-0.00216387" iyy="0.195814" iyz="1.53223e-05" izz="0.131523"/>
    </inertial>
    <!-- Part body_link_parts -->
    <visual>
      <origin xyz="-0.00770062 -4.54985e-06 -0.105557" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="package://assets/merged/body_link_visual.stl"/>
      </geometry>
      <material name="body_link_parts_material">
        <color rgba="0.980392 0.713725 0.00392157 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.00770062 -4.54985e-06 -0.105557" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="package://assets/merged/body_link_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_1 -->
  <link name="arm_link_1">
    <inertial>
      <origin xyz="-1.06869e-05 -0.00369804 -0.0615825" rpy="0 0 0"/>
      <mass value="2.2038"/>
      <inertia ixx="0.00398711" ixy="-6.128e-09" ixz="-9.9572e-08" iyy="0.00332264" iyz="-4.52028e-05" izz="0.00327232"/>
    </inertial>
    <!-- Part arm_link_1_parts -->
    <visual>
      <origin xyz="-1.06869e-05 -0.00369804 -0.0615825" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_1_visual.stl"/>
      </geometry>
      <material name="arm_link_1_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-1.06869e-05 -0.00369804 -0.0615825" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_2 -->
  <link name="arm_link_2">
    <inertial>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="0 0 0"/>
      <mass value="1.9456"/>
      <inertia ixx="0.00232848" ixy="8.86713e-07" ixz="-0.000218608" iyy="0.00607768" iyz="-4.37798e-07" izz="0.00629001"/>
    </inertial>
    <!-- Part arm_link_2_parts -->
    <visual>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="4.54761e-07 1.57077 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_2_visual.stl"/>
      </geometry>
      <material name="arm_link_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="4.54761e-07 1.57077 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_3 -->
  <link name="arm_link_3">
    <inertial>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="0 0 0"/>
      <mass value="1.94886"/>
      <inertia ixx="0.00638928" ixy="-2.96534e-06" ixz="3.84694e-06" iyy="0.00598683" iyz="-0.000187472" izz="0.00215638"/>
    </inertial>
    <!-- Part arm_link_3_parts -->
    <visual>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_3_visual.stl"/>
      </geometry>
      <material name="arm_link_3_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_3_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_4 -->
  <link name="arm_link_4">
    <inertial>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="0 0 0"/>
      <mass value="0.916518"/>
      <inertia ixx="0.000809181" ixy="5.12238e-07" ixz="-8.56762e-05" iyy="0.00204112" iyz="-3.3225e-08" izz="0.00203466"/>
    </inertial>
    <!-- Part arm_link_4_parts -->
    <visual>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="4.54761e-07 1.57077 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_4_visual.stl"/>
      </geometry>
      <material name="arm_link_4_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="4.54761e-07 1.57077 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_4_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_5 -->
  <link name="arm_link_5">
    <inertial>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="0 0 0"/>
      <mass value="0.843691"/>
      <inertia ixx="0.00115484" ixy="-4.1705e-08" ixz="2.59664e-05" iyy="0.00131635" iyz="1.16286e-07" izz="0.000742072"/>
    </inertial>
    <!-- Part arm_link_5_parts -->
    <visual>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_5_visual.stl"/>
      </geometry>
      <material name="arm_link_5_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_5_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_6 -->
  <link name="arm_link_6">
    <inertial>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 0 0"/>
      <mass value="0.525446"/>
      <inertia ixx="0.000275345" ixy="-1.06372e-06" ixz="-5.7647e-08" iyy="0.000233524" iyz="-3.51729e-06" izz="0.000268736"/>
    </inertial>
    <!-- Part arm_link_6_parts -->
    <visual>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 -2.25524e-05 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_6_visual.stl"/>
      </geometry>
      <material name="arm_link_6_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 -2.25524e-05 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_6_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_7 -->
  <link name="arm_link_7">
    <inertial>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="0 0 0"/>
      <mass value="0.13521"/>
      <inertia ixx="0.000149861" ixy="1.66e-10" ixz="-8.09464e-06" iyy="0.000202616" iyz="-2.81e-10" izz="0.000110973"/>
    </inertial>
    <!-- Part arm_link_7_parts -->
    <visual>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="3.96342e-07 1.57077 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_7_visual.stl"/>
      </geometry>
      <material name="arm_link_7_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="3.96342e-07 1.57077 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_7_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from arm_link_6 to arm_link_7 -->
  <joint name="left_arm_J7" type="revolute">
    <origin xyz="0 -0.036 -0.028" rpy="-1.5708 -0 0"/>
    <parent link="arm_link_6"/>
    <child link="arm_link_7"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_5 to arm_link_6 -->
  <joint name="left_arm_J6" type="revolute">
    <origin xyz="0.0295 0 -0.131" rpy="0 1.5708 0"/>
    <parent link="arm_link_5"/>
    <child link="arm_link_6"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_4 to arm_link_5 -->
  <joint name="left_arm_J5" type="revolute">
    <origin xyz="0.1215 -0 0.036" rpy="1.5708 -0 -1.5708"/>
    <parent link="arm_link_4"/>
    <child link="arm_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_3 to arm_link_4 -->
  <joint name="left_arm_J4" type="revolute">
    <origin xyz="-7.46e-10 -0.036 -0.146" rpy="-1.5708 1.5708 0"/>
    <parent link="arm_link_3"/>
    <child link="arm_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_2 to arm_link_3 -->
  <joint name="left_arm_J3" type="revolute">
    <origin xyz="0.1565 -2.41e-10 0.036" rpy="1.5708 0 -1.5708"/>
    <parent link="arm_link_2"/>
    <child link="arm_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_1 to arm_link_2 -->
  <joint name="left_arm_J2" type="revolute">
    <origin xyz="-0 -0.036 -0.071" rpy="-1.5708 1.5708 0"/>
    <parent link="arm_link_1"/>
    <child link="arm_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from body_link to arm_link_1 -->
  <joint name="left_arm_J1" type="revolute">
    <origin xyz="-0 0.1425 -0.004" rpy="1.5708 -1.57077 -0"/>
    <parent link="body_link"/>
    <child link="arm_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Link arm_link_1_2 -->
  <link name="arm_link_1_2">
    <inertial>
      <origin xyz="-1.06869e-05 -0.00369804 -0.0615825" rpy="0 0 0"/>
      <mass value="2.2038"/>
      <inertia ixx="0.00398711" ixy="-6.128e-09" ixz="-9.9572e-08" iyy="0.00332264" iyz="-4.52028e-05" izz="0.00327232"/>
    </inertial>
    <!-- Part arm_link_1_2_parts -->
    <visual>
      <origin xyz="-1.06869e-05 -0.00369804 -0.0615825" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_1_2_visual.stl"/>
      </geometry>
      <material name="arm_link_1_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-1.06869e-05 -0.00369804 -0.0615825" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_1_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_2_2 -->
  <link name="arm_link_2_2">
    <inertial>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="0 0 0"/>
      <mass value="1.9456"/>
      <inertia ixx="0.00232848" ixy="8.86713e-07" ixz="-0.000218608" iyy="0.00607768" iyz="-4.37798e-07" izz="0.00629001"/>
    </inertial>
    <!-- Part arm_link_2_2_parts -->
    <visual>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_2_2_visual.stl"/>
      </geometry>
      <material name="arm_link_2_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_2_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_3_2 -->
  <link name="arm_link_3_2">
    <inertial>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="0 0 0"/>
      <mass value="1.94886"/>
      <inertia ixx="0.00638928" ixy="-2.96534e-06" ixz="3.84694e-06" iyy="0.00598683" iyz="-0.000187472" izz="0.00215638"/>
    </inertial>
    <!-- Part arm_link_3_2_parts -->
    <visual>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_3_2_visual.stl"/>
      </geometry>
      <material name="arm_link_3_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_3_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_4_2 -->
  <link name="arm_link_4_2">
    <inertial>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="0 0 0"/>
      <mass value="0.916518"/>
      <inertia ixx="0.000809181" ixy="5.12238e-07" ixz="-8.56762e-05" iyy="0.00204112" iyz="-3.3225e-08" izz="0.00203466"/>
    </inertial>
    <!-- Part arm_link_4_2_parts -->
    <visual>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_4_2_visual.stl"/>
      </geometry>
      <material name="arm_link_4_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_4_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_5_2 -->
  <link name="arm_link_5_2">
    <inertial>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="0 0 0"/>
      <mass value="0.843691"/>
      <inertia ixx="0.00115484" ixy="-4.1705e-08" ixz="2.59664e-05" iyy="0.00131635" iyz="1.16286e-07" izz="0.000742072"/>
    </inertial>
    <!-- Part arm_link_5_2_parts -->
    <visual>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_5_2_visual.stl"/>
      </geometry>
      <material name="arm_link_5_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_5_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_6_2 -->
  <link name="arm_link_6_2">
    <inertial>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 0 0"/>
      <mass value="0.525446"/>
      <inertia ixx="0.000275345" ixy="-1.06372e-06" ixz="-5.7647e-08" iyy="0.000233524" iyz="-3.51729e-06" izz="0.000268736"/>
    </inertial>
    <!-- Part arm_link_6_2_parts -->
    <visual>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="3.14159 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_6_2_visual.stl"/>
      </geometry>
      <material name="arm_link_6_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="3.14159 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_6_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link arm_link_7_2 -->
  <link name="arm_link_7_2">
    <inertial>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="0 0 0"/>
      <mass value="0.13521"/>
      <inertia ixx="0.000149861" ixy="1.66e-10" ixz="-8.09464e-06" iyy="0.000202616" iyz="-2.81e-10" izz="0.000110973"/>
    </inertial>
    <!-- Part arm_link_7_2_parts -->
    <visual>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_7_2_visual.stl"/>
      </geometry>
      <material name="arm_link_7_2_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/arm_link_7_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from arm_link_6_2 to arm_link_7_2 -->
  <joint name="right_arm_J7" type="revolute">
    <origin xyz="0 -0.036 -0.028" rpy="-1.5708 -0 0"/>
    <parent link="arm_link_6_2"/>
    <child link="arm_link_7_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_5_2 to arm_link_6_2 -->
  <joint name="right_arm_J6" type="revolute">
    <origin xyz="0.0295 0 -0.131" rpy="-0 1.5708 0"/>
    <parent link="arm_link_5_2"/>
    <child link="arm_link_6_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_4_2 to arm_link_5_2 -->
  <joint name="right_arm_J5" type="revolute">
    <origin xyz="0.1215 -0 0.036" rpy="1.5708 -0 -1.5708"/>
    <parent link="arm_link_4_2"/>
    <child link="arm_link_5_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_3_2 to arm_link_4_2 -->
  <joint name="right_arm_J4" type="revolute">
    <origin xyz="-7.46e-10 -0.036 -0.146" rpy="-1.5708 1.5708 0"/>
    <parent link="arm_link_3_2"/>
    <child link="arm_link_4_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_2_2 to arm_link_3_2 -->
  <joint name="right_arm_J3" type="revolute">
    <origin xyz="0.1565 -2.41e-10 0.036" rpy="1.5708 -0 -1.5708"/>
    <parent link="arm_link_2_2"/>
    <child link="arm_link_3_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from arm_link_1_2 to arm_link_2_2 -->
  <joint name="right_arm_J2" type="revolute">
    <origin xyz="-0 -0.036 -0.071" rpy="-1.5708 1.5708 0"/>
    <parent link="arm_link_1_2"/>
    <child link="arm_link_2_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from body_link to arm_link_1_2 -->
  <joint name="right_arm_J1" type="revolute">
    <origin xyz="1.9742e-08 -0.1425 -0.00399998" rpy="-1.5708 1.5708 0"/>
    <parent link="body_link"/>
    <child link="arm_link_1_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Link waist_link_1 -->
  <link name="waist_link_1">
    <inertial>
      <origin xyz="3.11467e-06 0.00674712 -0.0457153" rpy="0 0 0"/>
      <mass value="2.07988"/>
      <inertia ixx="0.00276958" ixy="-8.367e-08" ixz="8.1856e-07" iyy="0.00250298" iyz="0.000161404" izz="0.00275977"/>
    </inertial>
    <!-- Part waist_link_1_parts -->
    <visual>
      <origin xyz="3.11467e-06 0.00674712 -0.0457153" rpy="-0 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/waist_link_1_visual.stl"/>
      </geometry>
      <material name="waist_link_1_parts_material">
        <color rgba="0.972549 0.529412 0.00392157 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="3.11467e-06 0.00674712 -0.0457153" rpy="-0 -0 -1.5708"/>
      <geometry>
        <mesh filename="package://assets/merged/waist_link_1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link waist_link_2 -->
  <link name="waist_link_2">
    <inertial>
      <origin xyz="1.34175e-07 -0.0201253 -0.0130557" rpy="0 0 0"/>
      <mass value="4.6278"/>
      <inertia ixx="0.0212779" ixy="-2.77841e-07" ixz="1.15998e-06" iyy="0.0217788" iyz="0.00445321" izz="0.0141532"/>
    </inertial>
    <!-- Part waist_link_2_parts -->
    <visual>
      <origin xyz="1.34175e-07 -0.0201253 -0.0130557" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/waist_link_2_visual.stl"/>
      </geometry>
      <material name="waist_link_2_parts_material">
        <color rgba="0.498039 0.498039 0.498039 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="1.34175e-07 -0.0201253 -0.0130557" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="package://assets/merged/waist_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from waist_link_1 to waist_link_2 -->
  <joint name="waist_J2" type="revolute">
    <origin xyz="0 0.058 -0.058" rpy="1.5708 2.1e-11 -0"/>
    <parent link="waist_link_1"/>
    <child link="waist_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
  <!-- Joint from body_link to waist_link_1 -->
  <joint name="waist_J1" type="revolute">
    <origin xyz="0.045 0 -0.367" rpy="0 -0 1.5708"/>
    <parent link="body_link"/>
    <child link="waist_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="10" velocity="10" lower="-3.141592653589793" upper="3.141592653589793"/>
  </joint>
</robot>
