<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from avatar.urdf.xacro              | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="avatar">
  <link name="root"/>
  <link name="pelvis">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/pelvis.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/pelvis.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="8.36"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="pelvis_yaw">
    <inertial>
      <mass value="8.36"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="pelvis_pitch">
    <inertial>
      <mass value="8.36"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_01">
    <inertial>
      <mass value="2.34"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_02">
    <inertial>
      <mass value="3.34"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_03">
    <inertial>
      <mass value="4.43"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_04">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/torso.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/torso.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="5.43"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_04_yaw">
    <inertial>
      <mass value="5.43"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_04_pitch">
    <inertial>
      <mass value="5.43"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="spine_05">
    <inertial>
      <mass value="6.05"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="neck_01">
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="neck_02">
    <inertial>
      <mass value="1.34"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="head">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/head.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/head.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.34"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="head_yaw">
    <inertial>
      <mass value="3.34"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="head_pitch">
    <inertial>
      <mass value="3.34"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="clavicle_l">
    <inertial>
      <mass value="2.08"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="upperarm_l">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/upperarm_l.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/upperarm_l.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.75"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="upperarm_l_yaw">
    <inertial>
      <mass value="1.75"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="upperarm_l_pitch">
    <inertial>
      <mass value="1.75"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="lowerarm_l">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/lowerarm_l.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/lowerarm_l.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="lowerarm_l_yaw">
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="lowerarm_l_pitch">
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="hand_l">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/hand_l.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/hand_l.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.56"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="hand_l_yaw">
    <inertial>
      <mass value="1.56"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="hand_l_pitch">
    <inertial>
      <mass value="1.56"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="clavicle_r">
    <inertial>
      <mass value="2.09"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="upperarm_r">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/upperarm_r.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/upperarm_r.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.75"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="upperarm_r_yaw">
    <inertial>
      <mass value="1.75"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="upperarm_r_pitch">
    <inertial>
      <mass value="1.75"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="lowerarm_r">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/lowerarm_r.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/lowerarm_r.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="lowerarm_r_yaw">
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="lowerarm_r_pitch">
    <inertial>
      <mass value="1.39"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="hand_r">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/hand_r.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/hand_r.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.15"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="hand_r_yaw">
    <inertial>
      <mass value="1.15"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="hand_r_pitch">
    <inertial>
      <mass value="1.15"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="thigh_l">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/thigh_l.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/thigh_l.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="5.5"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="calf_l">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/calf_l.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/calf_l.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.37"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="foot_l">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/foot_l.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/foot_l.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.12"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="thigh_r">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/thigh_r.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/thigh_r.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="5.5"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="calf_r">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/calf_r.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/calf_r.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.37"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <link name="foot_r">
    <visual>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/foot_r.fbx"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://iai_avatar_description/avatars/MetaHuman/meshes/fbx/foot_r.fbx"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.12"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
  <joint name="root_to_pelvis_yaw" type="fixed">
    <parent link="root"/>
    <child link="pelvis_yaw"/>
    <origin rpy="0 -1.5708 0" xyz="0 0 0.8854"/>
  </joint>
  <joint name="pelvis_yaw_to_pelvis_pitch" type="revolute">
    <parent link="pelvis_yaw"/>
    <child link="pelvis_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="pelvis_pitch_to_pelvis" type="revolute">
    <parent link="pelvis_pitch"/>
    <child link="pelvis"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="pelvis_to_spine_01_yaw" type="revolute">
    <parent link="pelvis"/>
    <child link="spine_01"/>
    <limit effort="1" lower="0" upper="0" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.02031170 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_01_to_spine_02" type="continuous">
    <parent link="spine_01"/>
    <child link="spine_02"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="0.042 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_02_to_spine_03" type="revolute">
    <parent link="spine_02"/>
    <child link="spine_03"/>
    <limit effort="1" lower="0" upper="0" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.067 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_03_to_spine_04_yaw" type="revolute">
    <parent link="spine_03"/>
    <child link="spine_04_yaw"/>
    <limit effort="1" lower="0" upper="0" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.07891 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_04_yaw_to_spine_04_pitch" type="revolute">
    <parent link="spine_04_yaw"/>
    <child link="spine_04_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="spine_04_pitch_to_spine_04" type="revolute">
    <parent link="spine_04_pitch"/>
    <child link="spine_04"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_04_to_spine_05" type="continuous">
    <parent link="spine_04"/>
    <child link="spine_05"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="0.15038425 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_05_to_neck_01" type="revolute">
    <parent link="spine_05"/>
    <child link="neck_01"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <limit effort="1" lower="-1.22173" upper="1.22173" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.1062 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="neck_01_to_neck_02" type="revolute">
    <parent link="neck_01"/>
    <child link="neck_02"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <limit effort="1" lower="-1.5708" upper="0.959931" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.05316546 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="neck_02_to_head_yaw" type="revolute">
    <parent link="neck_02"/>
    <child link="head_yaw"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <limit effort="1" lower="-0.610865" upper="0.610865" velocity="1"/>
    <origin rpy="0 0 0" xyz="0.05279524 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="head_yaw_to_head_pitch" type="revolute">
    <parent link="head_yaw"/>
    <child link="head_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="head_pitch_to_head" type="revolute">
    <parent link="head_pitch"/>
    <child link="head"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_05_to_clavicle_l" type="revolute">
    <parent link="spine_05"/>
    <child link="clavicle_l"/>
    <origin rpy="0 1.5708 0" xyz="0.05142808 0.00883206 -0.00816548"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="clavicle_l_to_upperarm_l_yaw" type="revolute">
    <parent link="clavicle_l"/>
    <child link="upperarm_l_yaw"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 1.0471975511965976 0" xyz="0.13340044 0 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="upperarm_l_yaw_to_upperarm_l_pitch" type="revolute">
    <parent link="upperarm_l_yaw"/>
    <child link="upperarm_l_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="upperarm_l_pitch_to_upperarm_l" type="revolute">
    <parent link="upperarm_l_pitch"/>
    <child link="upperarm_l"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="upperarm_l_to_lowerarm_l_yaw" type="continuous">
    <parent link="upperarm_l"/>
    <child link="lowerarm_l_yaw"/>
    <origin rpy="0 0 0" xyz="0.238537997 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="lowerarm_l_yaw_to_lowerarm_l_pitch" type="revolute">
    <parent link="lowerarm_l_yaw"/>
    <child link="lowerarm_l_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="lowerarm_l_pitch_to_lowerarm_l" type="revolute">
    <parent link="lowerarm_l_pitch"/>
    <child link="lowerarm_l"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="lowerarm_l_to_hand_l_yaw" type="continuous">
    <parent link="lowerarm_l"/>
    <child link="hand_l_yaw"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="-1.2351 0.1883 -0.2033" xyz="0.22966 0 -0.0000001"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="hand_l_yaw_to_hand_l_pitch" type="revolute">
    <parent link="hand_l_yaw"/>
    <child link="hand_l_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="hand_l_pitch_to_hand_l" type="revolute">
    <parent link="hand_l_pitch"/>
    <child link="hand_l"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="spine_05_to_clavicle_r" type="continuous">
    <parent link="spine_05"/>
    <child link="clavicle_r"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="3.14159 1.5708 0" xyz="0.05142808 0.00883206 0.00816548"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="clavicle_r_to_upperarm_r_yaw" type="continuous">
    <parent link="clavicle_r"/>
    <child link="upperarm_r_yaw"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 1.0471975511965976 0" xyz="-0.13340 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="upperarm_r_yaw_to_upperarm_r_pitch" type="revolute">
    <parent link="upperarm_r_yaw"/>
    <child link="upperarm_r_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="upperarm_r_pitch_to_upperarm_r" type="revolute">
    <parent link="upperarm_r_pitch"/>
    <child link="upperarm_r"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="upperarm_r_to_lowerarm_r_yaw" type="revolute">
    <parent link="upperarm_r"/>
    <child link="lowerarm_r_yaw"/>
    <axis xyz="0 0 1"/>
    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="-0.2383 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="lowerarm_r_yaw_to_lowerarm_r_pitch" type="revolute">
    <parent link="lowerarm_r_yaw"/>
    <child link="lowerarm_r_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="lowerarm_r_pitch_to_lowerarm_r" type="revolute">
    <parent link="lowerarm_r_pitch"/>
    <child link="lowerarm_r"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="lowerarm_r_to_hand_r" type="continuous">
    <parent link="lowerarm_r"/>
    <child link="hand_r_yaw"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="-1.2351 0.1883 -0.2033" xyz="-0.22 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="hand_r_yaw_to_hand_r_pitch" type="revolute">
    <parent link="hand_r_yaw"/>
    <child link="hand_r_pitch"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="0 1 0"/>
  </joint>
  <joint name="hand_r_pitch_to_hand_r" type="revolute">
    <parent link="hand_r_pitch"/>
    <child link="hand_r"/>
    <limit effort="1" lower="-1.5708" upper="2.44346" velocity="1"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="pelvis_to_thigh_l" type="continuous">
    <parent link="pelvis"/>
    <child link="thigh_l"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="-0.03036 0.003211013 -0.0957 "/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="thigh_l_to_calf_l" type="continuous">
    <parent link="thigh_l"/>
    <child link="calf_l"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="-0.4024 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="calf_l_to_foot_l" type="continuous">
    <parent link="calf_l"/>
    <child link="foot_l"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="-0.3674 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="pelvis_to_thigh_r" type="continuous">
    <parent link="pelvis"/>
    <child link="thigh_r"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 -3.14159" xyz="-0.03036254 0.00325813 0.09572073"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="thigh_r_to_calf_r" type="continuous">
    <parent link="thigh_r"/>
    <child link="calf_r"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="0.40552611 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
  <joint name="calf_r_to_foot_r" type="continuous">
    <parent link="calf_r"/>
    <child link="foot_r"/>
    <dynamics damping="1.0" friction="0.0001"/>
    <origin rpy="0 0 0" xyz="0.3674 0 0"/>
    <axis xyz="1 0 0"/>
  </joint>
</robot>

