<?xml version="1.0" ?>
<!-- Generated using onshape-to-robot -->
<!-- Onshape https://cad.onshape.com/documents/3fb6fc43af8407628b8a436e/w/97510b712561d1cd4f61c300/e/926f5c272b7ea2919e153a0d -->
<robot name="gen2">
  <!-- Link body_link -->
  <link name="body_link">
    <inertial>
      <origin xyz="-0.00479895 -3.17598e-06 -0.100797" rpy="0 0 0"/>
      <mass value="14.2121"/>
      <inertia ixx="0.243941" ixy="-4.35333e-06" ixz="-0.00134067" iyy="0.191537" iyz="1.17082e-05" izz="0.126646"/>
    </inertial>
    <!-- Part body_link_parts -->
    <visual>
      <origin xyz="-0.00479895 -3.17598e-06 -0.100797" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/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="-0.00479895 -3.17598e-06 -0.100797" rpy="0 -0 0"/>
      <geometry>
        <mesh filename="assets/body_link_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_1 -->
  <link name="left_arm_link_1">
    <inertial>
      <origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="0 0 0"/>
      <mass value="1.606"/>
      <inertia ixx="0.00168897" ixy="-1.5808e-08" ixz="1.30247e-07" iyy="0.00155509" iyz="8.11863e-07" izz="0.00168514"/>
    </inertial>
    <!-- Part left_arm_link_1_parts -->
    <visual>
      <origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="assets/left_arm_link_1_visual.stl"/>
      </geometry>
      <material name="left_arm_link_1_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="assets/left_arm_link_1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_2 -->
  <link name="left_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 left_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="assets/left_arm_link_2_visual.stl"/>
      </geometry>
      <material name="left_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="assets/left_arm_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_3 -->
  <link name="left_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 left_arm_link_3_parts -->
    <visual>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="assets/left_arm_link_3_visual.stl"/>
      </geometry>
      <material name="left_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="assets/left_arm_link_3_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_4 -->
  <link name="left_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 left_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="assets/left_arm_link_4_visual.stl"/>
      </geometry>
      <material name="left_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="assets/left_arm_link_4_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_5 -->
  <link name="left_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 left_arm_link_5_parts -->
    <visual>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="-1.5708 1e-11 -1.57077"/>
      <geometry>
        <mesh filename="assets/left_arm_link_5_visual.stl"/>
      </geometry>
      <material name="left_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="assets/left_arm_link_5_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_6 -->
  <link name="left_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 left_arm_link_6_parts -->
    <visual>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="0 -2.25524e-05 -1.5708"/>
      <geometry>
        <mesh filename="assets/left_arm_link_6_visual.stl"/>
      </geometry>
      <material name="left_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="assets/left_arm_link_6_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_arm_link_7 -->
  <link name="left_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 left_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="assets/left_arm_link_7_visual.stl"/>
      </geometry>
      <material name="left_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="assets/left_arm_link_7_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from left_arm_link_6 to left_arm_link_7 -->
  <joint name="left_arm_J7" type="revolute">
    <origin xyz="0 -0.036 -0.028" rpy="-1.5708 -0 0"/>
    <parent link="left_arm_link_6"/>
    <child link="left_arm_link_7"/>
    <axis xyz="0 0 1"/>
    <limit effort="25" velocity="35.2" lower="-1.57079632679" upper="1.57079632679"/>
  </joint>
  <!-- Joint from left_arm_link_5 to left_arm_link_6 -->
  <joint name="left_arm_J6" type="revolute">
    <origin xyz="0.0295 0 -0.131" rpy="0 1.5708 0"/>
    <parent link="left_arm_link_5"/>
    <child link="left_arm_link_6"/>
    <axis xyz="0 0 1"/>
    <limit effort="25" velocity="35.2" lower="-0.436332312999" upper="0.785398163397"/>
  </joint>
  <!-- Joint from left_arm_link_4 to left_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="left_arm_link_4"/>
    <child link="left_arm_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="25" velocity="35.2" lower="-1.57079632679" upper="3.29867228627"/>
  </joint>
  <!-- Joint from left_arm_link_3 to left_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="left_arm_link_3"/>
    <child link="left_arm_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="66" velocity="35.2" lower="0" upper="2.35619449019"/>
  </joint>
  <!-- Joint from left_arm_link_2 to left_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="left_arm_link_2"/>
    <child link="left_arm_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="134" velocity="35.2" lower="-1.57079632679" upper="3.14159265359"/>
  </joint>
  <!-- Joint from left_arm_link_1 to left_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="left_arm_link_1"/>
    <child link="left_arm_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="182" velocity="35.2" lower="-0.785398163397" upper="1.57079632679"/>
  </joint>
  <!-- Joint from body_link to left_arm_link_1 -->
  <joint name="left_arm_J1" type="revolute">
    <origin xyz="-0 0.1425 -0" rpy="1.5708 -1.57077 -0"/>
    <parent link="body_link"/>
    <child link="left_arm_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="182" velocity="35.2" lower="-1.57079632679" upper="2.35619449019"/>
  </joint>
  <!-- Link right_arm_link_1 -->
  <link name="right_arm_link_1">
    <inertial>
      <origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="0 0 0"/>
      <mass value="1.606"/>
      <inertia ixx="0.00168897" ixy="-1.5808e-08" ixz="1.30247e-07" iyy="0.00155509" iyz="8.11863e-07" izz="0.00168514"/>
    </inertial>
    <!-- Part right_arm_link_1_parts -->
    <visual>
      <origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_1_visual.stl"/>
      </geometry>
      <material name="right_arm_link_1_parts_material">
        <color rgba="0.901961 0.901961 0.901961 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-1.47166e-05 -0.00306553 -0.0710039" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_arm_link_2 -->
  <link name="right_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 right_arm_link_2_parts -->
    <visual>
      <origin xyz="0.0860616 3.31509e-05 0.0345088" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_arm_link_2_visual.stl"/>
      </geometry>
      <material name="right_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="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_arm_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_arm_link_3 -->
  <link name="right_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 right_arm_link_3_parts -->
    <visual>
      <origin xyz="4.40212e-05 -0.00236525 -0.104181" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_3_visual.stl"/>
      </geometry>
      <material name="right_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 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_3_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_arm_link_4 -->
  <link name="right_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 right_arm_link_4_parts -->
    <visual>
      <origin xyz="0.0678998 -1.73447e-05 0.0344772" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_arm_link_4_visual.stl"/>
      </geometry>
      <material name="right_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="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_arm_link_4_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_arm_link_5 -->
  <link name="right_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 right_arm_link_5_parts -->
    <visual>
      <origin xyz="0.00175699 -4.98862e-07 -0.0504805" rpy="1.5708 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_5_visual.stl"/>
      </geometry>
      <material name="right_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 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_5_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_arm_link_6 -->
  <link name="right_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 right_arm_link_6_parts -->
    <visual>
      <origin xyz="9.27263e-05 -0.004905 -0.0280094" rpy="3.14159 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_6_visual.stl"/>
      </geometry>
      <material name="right_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="3.14159 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/right_arm_link_6_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_arm_link_7 -->
  <link name="right_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 right_arm_link_7_parts -->
    <visual>
      <origin xyz="0.0288794 -1.4907e-07 0.0339252" rpy="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_arm_link_7_visual.stl"/>
      </geometry>
      <material name="right_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="-1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_arm_link_7_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from right_arm_link_6 to right_arm_link_7 -->
  <joint name="right_arm_J7" type="revolute">
    <origin xyz="0 -0.036 -0.028" rpy="-1.5708 -0 0"/>
    <parent link="right_arm_link_6"/>
    <child link="right_arm_link_7"/>
    <axis xyz="0 0 1"/>
    <limit effort="25" velocity="35.2" lower="-1.57079632679" upper="1.57079632679"/>
  </joint>
  <!-- Joint from right_arm_link_5 to right_arm_link_6 -->
  <joint name="right_arm_J6" type="revolute">
    <origin xyz="0.0295 0 -0.131" rpy="-0 1.5708 0"/>
    <parent link="right_arm_link_5"/>
    <child link="right_arm_link_6"/>
    <axis xyz="0 0 1"/>
    <limit effort="25" velocity="35.2" lower="-0.436332312999" upper="0.785398163397"/>
  </joint>
  <!-- Joint from right_arm_link_4 to right_arm_link_5 -->
  <joint name="right_arm_J5" type="revolute">
    <origin xyz="0.1215 -0 0.036" rpy="1.5708 -0 -1.5708"/>
    <parent link="right_arm_link_4"/>
    <child link="right_arm_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="25" velocity="35.2" lower="-3.14159265359" upper="1.57079632679"/>
  </joint>
  <!-- Joint from right_arm_link_3 to right_arm_link_4 -->
  <joint name="right_arm_J4" type="revolute">
    <origin xyz="-7.46e-10 -0.036 -0.146" rpy="-1.5708 1.5708 0"/>
    <parent link="right_arm_link_3"/>
    <child link="right_arm_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="66" velocity="35.2" lower="-2.35619449019" upper="0"/>
  </joint>
  <!-- Joint from right_arm_link_2 to right_arm_link_3 -->
  <joint name="right_arm_J3" type="revolute">
    <origin xyz="0.1565 -2.41e-10 0.036" rpy="1.5708 -0 -1.5708"/>
    <parent link="right_arm_link_2"/>
    <child link="right_arm_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="134" velocity="35.2" lower="-3.14159265359" upper="1.57079632679"/>
  </joint>
  <!-- Joint from right_arm_link_1 to right_arm_link_2 -->
  <joint name="right_arm_J2" type="revolute">
    <origin xyz="-0 -0.036 -0.071" rpy="-1.5708 1.5708 0"/>
    <parent link="right_arm_link_1"/>
    <child link="right_arm_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="182" velocity="35.2" lower="-1.57079632679" upper="0.785398163397"/>
  </joint>
  <!-- Joint from body_link to right_arm_link_1 -->
  <joint name="right_arm_J1" type="revolute">
    <origin xyz="1.9742e-08 -0.1425 1.5345e-08" rpy="-1.5708 1.5708 0"/>
    <parent link="body_link"/>
    <child link="right_arm_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="182" velocity="35.2" lower="-2.35619449019" upper="1.57079632679"/>
  </joint>
  <!-- Link waist_link_1 -->
  <link name="waist_link_1">
    <inertial>
      <origin xyz="3.12065e-06 0.00666211 -0.045688" rpy="0 0 0"/>
      <mass value="2.07526"/>
      <inertia ixx="0.00276114" ixy="-8.4173e-08" ixz="8.18741e-07" iyy="0.00249781" iyz="0.000159232" izz="0.00274949"/>
    </inertial>
    <!-- Part waist_link_1_parts -->
    <visual>
      <origin xyz="3.12065e-06 0.00666211 -0.045688" rpy="-0 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/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="3.12065e-06 0.00666211 -0.045688" rpy="-0 -0 -1.5708"/>
      <geometry>
        <mesh filename="assets/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="assets/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="assets/waist_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_leg_link_1 -->
  <link name="left_leg_link_1">
    <inertial>
      <origin xyz="-0.010096 0.000418231 -0.0375909" rpy="0 0 0"/>
      <mass value="2.95391"/>
      <inertia ixx="0.00535709" ixy="1.10513e-05" ixz="-0.000292699" iyy="0.00611606" iyz="2.39e-06" izz="0.00803251"/>
    </inertial>
    <!-- Part left_leg_link_1_parts -->
    <visual>
      <origin xyz="-0.010096 0.000418231 -0.0375909" rpy="-1.48353 1e-12 -1e-11"/>
      <geometry>
        <mesh filename="assets/left_leg_link_1_visual.stl"/>
      </geometry>
      <material name="left_leg_link_1_parts_material">
        <color rgba="0.739948 0.872303 0.948529 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.010096 0.000418231 -0.0375909" rpy="-1.48353 1e-12 -1e-11"/>
      <geometry>
        <mesh filename="assets/left_leg_link_1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_leg_link_2 -->
  <link name="left_leg_link_2">
    <inertial>
      <origin xyz="0.000294312 0.0466188 0.00749029" rpy="0 0 0"/>
      <mass value="4.92904"/>
      <inertia ixx="0.033972" ixy="2.30475e-05" ixz="-5.50878e-05" iyy="0.0218405" iyz="-0.012558" izz="0.0221342"/>
    </inertial>
    <!-- Part left_leg_link_2_parts -->
    <visual>
      <origin xyz="0.000294312 0.0466188 0.00749029" rpy="1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/left_leg_link_2_visual.stl"/>
      </geometry>
      <material name="left_leg_link_2_parts_material">
        <color rgba="0.580998 0.725521 0.877379 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.000294312 0.0466188 0.00749029" rpy="1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/left_leg_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_leg_link_3 -->
  <link name="left_leg_link_3">
    <inertial>
      <origin xyz="0.00500418 0.00011043 -0.141481" rpy="0 0 0"/>
      <mass value="4.64683"/>
      <inertia ixx="0.0268618" ixy="1.89471e-05" ixz="0.000574643" iyy="0.0221049" iyz="7.98305e-06" izz="0.01051"/>
    </inertial>
    <!-- Part left_leg_link_3_parts -->
    <visual>
      <origin xyz="0.00500418 0.00011043 -0.141481" rpy="0 1e-11 1.5708"/>
      <geometry>
        <mesh filename="assets/left_leg_link_3_visual.stl"/>
      </geometry>
      <material name="left_leg_link_3_parts_material">
        <color rgba="0.847639 0.867811 0.879915 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.00500418 0.00011043 -0.141481" rpy="0 1e-11 1.5708"/>
      <geometry>
        <mesh filename="assets/left_leg_link_3_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_leg_link_4 -->
  <link name="left_leg_link_4">
    <inertial>
      <origin xyz="-0.000210823 0.134583 0.0600745" rpy="0 0 0"/>
      <mass value="2.79674"/>
      <inertia ixx="0.0135252" ixy="6.79983e-06" ixz="-4.13371e-05" iyy="0.00454322" iyz="-0.00123377" izz="0.0125213"/>
    </inertial>
    <!-- Part left_leg_link_4_parts -->
    <visual>
      <origin xyz="-0.000210823 0.134583 0.0600745" rpy="1.5708 0 -0"/>
      <geometry>
        <mesh filename="assets/left_leg_link_4_visual.stl"/>
      </geometry>
      <material name="left_leg_link_4_parts_material">
        <color rgba="0.407254 0.57656 0.806301 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.000210823 0.134583 0.0600745" rpy="1.5708 0 -0"/>
      <geometry>
        <mesh filename="assets/left_leg_link_4_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_leg_link_5 -->
  <link name="left_leg_link_5">
    <inertial>
      <origin xyz="0.011502 -0.0562347 0.0147126" rpy="0 0 0"/>
      <mass value="1.53022"/>
      <inertia ixx="0.00162553" ixy="-5.03414e-05" ixz="4.27839e-05" iyy="0.00132492" iyz="9.73133e-05" izz="0.00170498"/>
    </inertial>
    <!-- Part left_leg_link_5_parts -->
    <visual>
      <origin xyz="0.011502 -0.0562347 0.0147126" rpy="1.5708 0 3.14159"/>
      <geometry>
        <mesh filename="assets/left_leg_link_5_visual.stl"/>
      </geometry>
      <material name="left_leg_link_5_parts_material">
        <color rgba="0.409744 0.580605 0.809629 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.011502 -0.0562347 0.0147126" rpy="1.5708 0 3.14159"/>
      <geometry>
        <mesh filename="assets/left_leg_link_5_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link left_leg_link_6 -->
  <link name="left_leg_link_6">
    <inertial>
      <origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="0 0 0"/>
      <mass value="0.838438"/>
      <inertia ixx="0.00607297" ixy="5.8e-11" ixz="-6.56e-10" iyy="0.00603501" iyz="0.000504962" izz="0.000755761"/>
    </inertial>
    <!-- Part left_leg_link_6_parts -->
    <visual>
      <origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/left_leg_link_6_visual.stl"/>
      </geometry>
      <material name="left_leg_link_6_parts_material">
        <color rgba="0.57236 0.622959 0.693445 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/left_leg_link_6_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from left_leg_link_5 to left_leg_link_6 -->
  <joint name="left_leg_J6" type="revolute">
    <origin xyz="-0.0305 -0.0655 0.016" rpy="-3.14159 -1.5708 0"/>
    <parent link="left_leg_link_5"/>
    <child link="left_leg_link_6"/>
    <axis xyz="0 0 1"/>
    <limit effort="120" velocity="35.2" lower="-0.174532925199" upper="0.174532925199"/>
  </joint>
  <!-- Joint from left_leg_link_4 to left_leg_link_5 -->
  <joint name="left_leg_J5" type="revolute">
    <origin xyz="0 0.345 0.028" rpy="0 0 -3.14159"/>
    <parent link="left_leg_link_4"/>
    <child link="left_leg_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="120" velocity="35.2" lower="-0.785398163397" upper="2.35619449019"/>
  </joint>
  <!-- Joint from left_leg_link_3 to left_leg_link_4 -->
  <joint name="left_leg_J4" type="revolute">
    <origin xyz="0.044 0 -0.166" rpy="-1.5708 1e-11 1.5708"/>
    <parent link="left_leg_link_3"/>
    <child link="left_leg_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="450" velocity="26.3" lower="0" upper="2.35619449019"/>
  </joint>
  <!-- Joint from left_leg_link_2 to left_leg_link_3 -->
  <joint name="left_leg_J3" type="revolute">
    <origin xyz="0 0.15825 0.07725" rpy="1.5708 0 -0"/>
    <parent link="left_leg_link_2"/>
    <child link="left_leg_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="120" velocity="35.2" lower="-0.785398163397" upper="1.57079632679"/>
  </joint>
  <!-- Joint from left_leg_link_1 to left_leg_link_2 -->
  <joint name="left_leg_J2" type="revolute">
    <origin xyz="-0.07725 -0 -0.0459444" rpy="-1.5708 -1.48353 -1.5708"/>
    <parent link="left_leg_link_1"/>
    <child link="left_leg_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="320" velocity="26.3" lower="-0.261799387799" upper="1.57079632679"/>
  </joint>
  <!-- Joint from waist_link_2 to left_leg_link_1 -->
  <joint name="left_leg_J1" type="revolute">
    <origin xyz="0.0749049 -0.0471789 0.0665" rpy="-0.0872665 -1.5708 0"/>
    <parent link="waist_link_2"/>
    <child link="left_leg_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="320" velocity="26.3" lower="-0.523598775598" upper="3.14159265359"/>
  </joint>
  <!-- Link right_leg_link_1 -->
  <link name="right_leg_link_1">
    <inertial>
      <origin xyz="-0.010096 0.000418231 -0.0375909" rpy="0 0 0"/>
      <mass value="2.95391"/>
      <inertia ixx="0.00535709" ixy="1.10513e-05" ixz="-0.000292699" iyy="0.00611606" iyz="2.39e-06" izz="0.00803251"/>
    </inertial>
    <!-- Part right_leg_link_1_parts -->
    <visual>
      <origin xyz="-0.010096 0.000418231 -0.0375909" rpy="1.48353 1e-12 1e-11"/>
      <geometry>
        <mesh filename="assets/right_leg_link_1_visual.stl"/>
      </geometry>
      <material name="right_leg_link_1_parts_material">
        <color rgba="0.739948 0.872303 0.948529 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.010096 0.000418231 -0.0375909" rpy="1.48353 1e-12 1e-11"/>
      <geometry>
        <mesh filename="assets/right_leg_link_1_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_leg_link_2 -->
  <link name="right_leg_link_2">
    <inertial>
      <origin xyz="7.93801e-06 -0.0461176 0.00749029" rpy="0 0 0"/>
      <mass value="4.92904"/>
      <inertia ixx="0.0342011" ixy="-4.63856e-05" ixz="4.29574e-05" iyy="0.0218409" iyz="0.0126742" izz="0.0223638"/>
    </inertial>
    <!-- Part right_leg_link_2_parts -->
    <visual>
      <origin xyz="7.93801e-06 -0.0461176 0.00749029" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_leg_link_2_visual.stl"/>
      </geometry>
      <material name="right_leg_link_2_parts_material">
        <color rgba="0.580998 0.725521 0.877379 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="7.93801e-06 -0.0461176 0.00749029" rpy="-1.5708 -1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_leg_link_2_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_leg_link_3 -->
  <link name="right_leg_link_3">
    <inertial>
      <origin xyz="-0.00500418 0.00011043 -0.141763" rpy="0 0 0"/>
      <mass value="4.64683"/>
      <inertia ixx="0.0269258" ixy="-1.89471e-05" ixz="-0.000559104" iyy="0.0221689" iyz="1.70358e-05" izz="0.01051"/>
    </inertial>
    <!-- Part right_leg_link_3_parts -->
    <visual>
      <origin xyz="-0.00500418 0.00011043 -0.141763" rpy="0 1e-11 1.5708"/>
      <geometry>
        <mesh filename="assets/right_leg_link_3_visual.stl"/>
      </geometry>
      <material name="right_leg_link_3_parts_material">
        <color rgba="0.847639 0.867811 0.879915 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.00500418 0.00011043 -0.141763" rpy="0 1e-11 1.5708"/>
      <geometry>
        <mesh filename="assets/right_leg_link_3_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_leg_link_4 -->
  <link name="right_leg_link_4">
    <inertial>
      <origin xyz="-0.000211068 -0.135087 0.0600745" rpy="0 0 0"/>
      <mass value="2.79674"/>
      <inertia ixx="0.0135566" ixy="-6.37519e-06" ixz="-4.13459e-05" iyy="0.00454322" iyz="0.00126553" izz="0.0125528"/>
    </inertial>
    <!-- Part right_leg_link_4_parts -->
    <visual>
      <origin xyz="-0.000211068 -0.135087 0.0600745" rpy="-1.5708 0 -0"/>
      <geometry>
        <mesh filename="assets/right_leg_link_4_visual.stl"/>
      </geometry>
      <material name="right_leg_link_4_parts_material">
        <color rgba="0.423305 0.595827 0.817517 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-0.000211068 -0.135087 0.0600745" rpy="-1.5708 0 -0"/>
      <geometry>
        <mesh filename="assets/right_leg_link_4_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_leg_link_5 -->
  <link name="right_leg_link_5">
    <inertial>
      <origin xyz="0.0131096 -0.0562347 0.0171301" rpy="0 0 0"/>
      <mass value="1.53022"/>
      <inertia ixx="0.00162611" ixy="-2.7601e-05" ixz="-4.13523e-05" iyy="0.00129398" iyz="-9.95383e-05" izz="0.00167347"/>
    </inertial>
    <!-- Part right_leg_link_5_parts -->
    <visual>
      <origin xyz="0.0131096 -0.0562347 0.0171301" rpy="1.5708 -0 -3.14159"/>
      <geometry>
        <mesh filename="assets/right_leg_link_5_visual.stl"/>
      </geometry>
      <material name="right_leg_link_5_parts_material">
        <color rgba="0.40957 0.557154 0.77456 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0131096 -0.0562347 0.0171301" rpy="1.5708 -0 -3.14159"/>
      <geometry>
        <mesh filename="assets/right_leg_link_5_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Link right_leg_link_6 -->
  <link name="right_leg_link_6">
    <inertial>
      <origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="0 0 0"/>
      <mass value="0.838438"/>
      <inertia ixx="0.00607297" ixy="5.8e-11" ixz="-6.56e-10" iyy="0.00603501" iyz="0.000504962" izz="0.000755761"/>
    </inertial>
    <!-- Part right_leg_link_6_parts -->
    <visual>
      <origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_leg_link_6_visual.stl"/>
      </geometry>
      <material name="right_leg_link_6_parts_material">
        <color rgba="0.57236 0.622959 0.693445 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="-3.61e-10 0.0509948 -0.00275242" rpy="1.5708 1.5708 0"/>
      <geometry>
        <mesh filename="assets/right_leg_link_6_collision.stl"/>
      </geometry>
    </collision>
  </link>
  <!-- Joint from right_leg_link_5 to right_leg_link_6 -->
  <joint name="right_leg_J6" type="revolute">
    <origin xyz="-0.0275 -0.0655 0.016" rpy="-3.14159 -1.5708 0"/>
    <parent link="right_leg_link_5"/>
    <child link="right_leg_link_6"/>
    <axis xyz="0 0 1"/>
    <limit effort="120" velocity="35.2" lower="-0.174532925199" upper="0.174532925199"/>
  </joint>
  <!-- Joint from right_leg_link_4 to right_leg_link_5 -->
  <joint name="right_leg_J5" type="revolute">
    <origin xyz="0 -0.345 0.06" rpy="3.14159 0 -3.14159"/>
    <parent link="right_leg_link_4"/>
    <child link="right_leg_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="120" velocity="35.2" lower="-2.35619449019" upper="0.785398163397"/>
  </joint>
  <!-- Joint from right_leg_link_3 to right_leg_link_4 -->
  <joint name="right_leg_J4" type="revolute">
    <origin xyz="-0.044 -0 -0.166" rpy="1.5708 1e-11 1.5708"/>
    <parent link="right_leg_link_3"/>
    <child link="right_leg_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="450" velocity="26.3" lower="-2.35619449019" upper="0"/>
  </joint>
  <!-- Joint from right_leg_link_2 to right_leg_link_3 -->
  <joint name="right_leg_J3" type="revolute">
    <origin xyz="0 -0.15825 0.07725" rpy="1.5708 -0 3.14159"/>
    <parent link="right_leg_link_2"/>
    <child link="right_leg_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="120" velocity="35.2" lower="-0.785398163397" upper="1.57079632679"/>
  </joint>
  <!-- Joint from right_leg_link_1 to right_leg_link_2 -->
  <joint name="right_leg_J2" type="revolute">
    <origin xyz="-0.07725 -0 -0.0459444" rpy="1.5708 -1.48353 1.5708"/>
    <parent link="right_leg_link_1"/>
    <child link="right_leg_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="320" velocity="26.3" lower="-0.261799387799" upper="1.57079632679"/>
  </joint>
  <!-- Joint from waist_link_2 to right_leg_link_1 -->
  <joint name="right_leg_J1" type="revolute">
    <origin xyz="-0.0749049 -0.0471789 0.0665" rpy="-3.05433 -1.5708 0"/>
    <parent link="waist_link_2"/>
    <child link="right_leg_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="320" velocity="26.3" lower="-0.523598775598" upper="3.14159265359"/>
  </joint>
  <!-- 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="182" velocity="35.2" lower="-0.261799387799" upper="0.261799387799"/>
  </joint>
  <!-- Joint from body_link to waist_link_1 -->
  <joint name="waist_J1" type="revolute">
    <origin xyz="0.045 0 -0.363" rpy="0 -0 1.5708"/>
    <parent link="body_link"/>
    <child link="waist_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="182" velocity="35.2" lower="-1.57079632679" upper="1.57079632679"/>
  </joint>
</robot>
