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model.urdf
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model.urdf
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<robot name="iCub">
<link name="root_link">
<inertial>
<origin xyz="0.02488209999999999 0.00010394699999999017 -0.04408060000000001" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<mass value="5.09143"/>
<inertia ixx="0.0139679" ixy="-5.93488e-06" ixz="-1.55458e-05" iyy="0.0202112" iyz="-0.00170968" izz="0.0249124"/>
</inertial>
<visual>
<origin xyz="-0.036399999999999995 0 0.032" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="root_link_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="-0.036399999999999995 0 0.032" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_root_link_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="root_link_ems_gyro_eb5"/>
<joint name="root_link_ems_gyro_eb5_fixed_joint" type="fixed">
<origin xyz="0.0493308 -0.012577100000000023 -0.11569100000000002" rpy="3.141592653589793 1.2915440450258349 3.141592653589793"/>
<parent link="root_link"/>
<child link="root_link_ems_gyro_eb5"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_hip_1">
<inertial>
<origin xyz="-0.0005145000000000149 -0.038075299999999986 -7.099999999998774e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
<mass value="0.919978"/>
<inertia ixx="0.000404268" ixy="-1.26852e-06" ixz="1.11055e-06" iyy="0.000574741" iyz="-7.69474e-07" izz="0.000580025"/>
</inertial>
<visual>
<origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_hip_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.04285150000011213 0.025999999999999232 0.1519129999999679" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_hip_pitch" type="revolute">
<origin xyz="0.006451499999999992 0.025999999999999968 -0.11991299999999999" rpy="0 0 -3.141592653589793"/>
<axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0"/>
<parent link="root_link"/>
<child link="r_hip_1"/>
<limit effort="55.5" lower="-0.7853981633974483" upper="2.3387411976724017" velocity="5.1"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_hip_2">
<inertial>
<origin xyz="-0.0009315000000000018 8.09999999998312e-06 -0.04480899999999996" rpy="1.5707963267948961 0 1.5707963267948961"/>
<mass value="0.413242"/>
<inertia ixx="0.00046914" ixy="-4.76597e-08" ixz="7.12496e-08" iyy="0.000277108" iyz="3.3401e-06" izz="0.000303891"/>
</inertial>
<visual>
<origin xyz="0.04285149980937101 0.07010000000000424 0.15191299999996632" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_hip_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.04285149980937101 0.07010000000000424 0.15191299999996632" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_hip_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_hip_roll" type="revolute">
<origin xyz="0 -0.04409999999999998 0" rpy="0 0 0"/>
<axis xyz="-0.9999999999999998 0.0 -2.220446049250313e-16"/>
<parent link="r_hip_1"/>
<child link="r_hip_2"/>
<limit effort="37.0" lower="-0.3490658503988659" upper="2.0943951023931953" velocity="7.64"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_upper_leg_ft_gyro_3b11"/>
<joint name="r_upper_leg_ft_gyro_3b11_fixed_joint" type="fixed">
<origin xyz="0.006563800000000002 -0.008586100000000013 -0.059281999999999946" rpy="0 0 1.5707963267948966"/>
<parent link="r_hip_2"/>
<child link="r_upper_leg_ft_gyro_3b11"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_hip_3">
<inertial>
<origin xyz="-0.00012300000000000505 -0.0002822999999999992 0.008718000000000031" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
<mass value="0.126212"/>
<inertia ixx="0.01" ixy="2.67901e-07" ixz="-4.41463e-09" iyy="0.01" iyz="3.32338e-08" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0.0437090152 -0.07009999189999992 -0.22621299999996644" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_hip_3_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0437090152 -0.07009999189999992 -0.22621299999996644" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_upper_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_leg_ft_sensor" type="fixed">
<origin xyz="-0.0009362999999999941 1.3899999999969492e-05 -0.07429999999999995" rpy="3.141592653589793 0 0"/>
<parent link="r_hip_2"/>
<child link="r_hip_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_leg_ft"/>
<joint name="r_leg_ft_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="r_hip_3"/>
<child link="r_leg_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_upper_leg">
<inertial>
<origin xyz="0.0033999999999999933 -2.9100000000018e-05 -0.078954" rpy="1.5707963267948961 0 1.5707963267948961"/>
<mass value="1.8035"/>
<inertia ixx="0.006477514229987116" ixy="0.0001295794295884975" ixz="5.482050947393938e-06" iyy="0.0014593786411035647" iyz="-0.0001366130868747447" izz="0.006467208238130081"/>
</inertial>
<visual>
<origin xyz="0.0437090152 0.07009999190000003 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_upper_leg_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0437090152 0.07009999190000003 0.24081299999999994" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_thigh_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_hip_yaw" type="revolute">
<origin xyz="0 0 0.014399999999999996" rpy="-3.141592653589793 0 0"/>
<axis xyz="0.0 -2.220446049250313e-16 -0.9999999999999998"/>
<parent link="r_hip_3"/>
<child link="r_upper_leg"/>
<limit effort="37.0" lower="-1.3962634015954636" upper="1.3962634015954636" velocity="7.64"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_upper_leg_ems_gyro_eb8"/>
<joint name="r_upper_leg_ems_gyro_eb8_fixed_joint" type="fixed">
<origin xyz="-0.013078999999999993 0.04040709999999999 -0.035654999999999964" rpy="1.5707963267948966 1.5707963267948961 0"/>
<parent link="r_upper_leg"/>
<child link="r_upper_leg_ems_gyro_eb8"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_upper_leg_ems_gyro_eb11"/>
<joint name="r_upper_leg_ems_gyro_eb11_fixed_joint" type="fixed">
<origin xyz="-0.013081000000000016 -0.040406899999999996 -0.087979" rpy="1.5707963267948966 1.5707963267948961 0"/>
<parent link="r_upper_leg"/>
<child link="r_upper_leg_ems_gyro_eb11"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_upper_leg_back_contact"/>
<joint name="r_upper_leg_back_contact_fixed_joint" type="fixed">
<origin xyz="-0.051199800000000004 0 0.014599999999999946" rpy="0 1.5707963267948963 0"/>
<parent link="r_upper_leg"/>
<child link="r_upper_leg_back_contact"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_upper_leg_dh_frame"/>
<joint name="r_upper_leg_dh_frame_fixed_joint" type="fixed">
<origin xyz="0 0 -0.14582499999999995" rpy="1.5707963267948966 0 0"/>
<parent link="r_upper_leg"/>
<child link="r_upper_leg_dh_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg">
<inertial>
<origin xyz="0.0012363999999999917 -0.003513100000000033 -0.08879400000000004" rpy="1.5707963267948961 0 1.5707963267948961"/>
<mass value="1.472"/>
<inertia ixx="0.00423993167477533" ixy="0.00022881454885381036" ixz="-5.556464594531433e-05" iyy="0.0015209504344685463" iyz="-0.0002641329792432387" izz="0.004573585842061655"/>
</inertial>
<visual>
<origin xyz="0.0437090152 0.07009999200000007 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_lower_leg_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0437090152 0.07009999200000007 0.38663799999999987" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_shank_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_knee" type="revolute">
<origin xyz="0 0 -0.14582499999999995" rpy="0 0 0"/>
<axis xyz="-2.220446049250313e-16 -0.9999999999999998 0.0"/>
<parent link="r_upper_leg"/>
<child link="r_lower_leg"/>
<limit effort="37.0" lower="-2.1642082724729685" upper="0.06981317007977318" velocity="7.64"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_lower_leg_ems_gyro_eb9"/>
<joint name="r_lower_leg_ems_gyro_eb9_fixed_joint" type="fixed">
<origin xyz="0.04450330799999999 0.014343499999999974 -0.08830099999999996" rpy="-3.1415926535897905 -1.3526297834539558 0"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_ems_gyro_eb9"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_0"/>
<joint name="r_lower_leg_skin_0_fixed_joint" type="fixed">
<origin xyz="0.05441169999999998 -0.03121489999999999 -0.002634000000000025" rpy="2.0917380908554746e-06 -1.4153067624694633 2.48648458622082"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_3"/>
<joint name="r_lower_leg_skin_3_fixed_joint" type="fixed">
<origin xyz="0.05157878999999999 0.030420499999999996 -0.0028429999999999844" rpy="0 -1.4295105408285231 -2.3039148418553874"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_4"/>
<joint name="r_lower_leg_skin_4_fixed_joint" type="fixed">
<origin xyz="0.05831029999999999 0.016783599999999996 0.007272000000000001" rpy="-2.9863636151870843e-07 -1.256367488755018 -2.758923800870981"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_5"/>
<joint name="r_lower_leg_skin_5_fixed_joint" type="fixed">
<origin xyz="0.06365039999999998 0.00030939999999998746 -0.0019720000000000293" rpy="0 -1.3865221506831833 -3.1414716980716264"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_5"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_6"/>
<joint name="r_lower_leg_skin_6_fixed_joint" type="fixed">
<origin xyz="0.05208553999999999 0.03044339999999999 -0.022148999999999974" rpy="-3.1415892795257605 -1.4678512341064953 0.8374928890768593"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_6"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_9"/>
<joint name="r_lower_leg_skin_9_fixed_joint" type="fixed">
<origin xyz="0.05982139999999998 0.01679719999999999 -0.03096199999999999" rpy="-3.1415920235620423 -1.3422475532506952 0.37929447771782354"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_9"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_10"/>
<joint name="r_lower_leg_skin_10_fixed_joint" type="fixed">
<origin xyz="0.06446069999999998 0.00034239999999997883 -0.021204999999999974" rpy="3.141592653553929 -1.4709580354104241 0.00043002167526072775"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_11"/>
<joint name="r_lower_leg_skin_11_fixed_joint" type="fixed">
<origin xyz="0.060710799999999975 -0.016091600000000025 -0.030884999999999996" rpy="-3.1415921825227295 -1.32811804060386 -0.27213836787954737"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_11"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_14"/>
<joint name="r_lower_leg_skin_14_fixed_joint" type="fixed">
<origin xyz="0.05504769999999998 -0.031175900000000006 -0.02190000000000003" rpy="-3.141591818848249 -1.4650273563521197 -0.6540334071673023"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_15"/>
<joint name="r_lower_leg_skin_15_fixed_joint" type="fixed">
<origin xyz="0.05917079999999998 -0.016178800000000007 0.0072429999999999994" rpy="4.274842569949443e-07 -1.2520363307607896 2.8679885947088186"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_15"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_16"/>
<joint name="r_lower_leg_skin_16_fixed_joint" type="fixed">
<origin xyz="0.027287599999999978 -0.050286899999999995 -0.004549000000000025" rpy="1.3307591512293707e-05 -1.5326085351498482 1.9628024283508803"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_16"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_17"/>
<joint name="r_lower_leg_skin_17_fixed_joint" type="fixed">
<origin xyz="0.027874999999999976 -0.05031190000000001 -0.023882000000000014" rpy="-3.141564526201752 -1.563662402374811 -1.1802250875588731"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_17"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_19"/>
<joint name="r_lower_leg_skin_19_fixed_joint" type="fixed">
<origin xyz="0.03575341 0.041062799999999997 0.006064999999999987" rpy="-8.908777174257102e-07 -1.4349869697782824 -2.1586361801672447"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_19"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_20"/>
<joint name="r_lower_leg_skin_20_fixed_joint" type="fixed">
<origin xyz="0.0234419 0.047990799999999986 -0.004952000000000012" rpy="-3.2055654966350685e-06 -1.5001551303072314 -1.8675509241250097"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_20"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_21"/>
<joint name="r_lower_leg_skin_21_fixed_joint" type="fixed">
<origin xyz="0.024270400000000004 0.04853779999999998 -0.024276999999999993" rpy="2.2967114955750172e-05 -1.5554551388057172 -1.8741197231626954"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_21"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_28"/>
<joint name="r_lower_leg_skin_28_fixed_joint" type="fixed">
<origin xyz="0.04087215999999998 -0.0424399 -0.03275600000000001" rpy="3.1415808886539165 -1.5225246216918655 -0.9296810297631274"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_28"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_29"/>
<joint name="r_lower_leg_skin_29_fixed_joint" type="fixed">
<origin xyz="0.03846637999999998 -0.04351590000000001 -0.05242000000000002" rpy="3.1415801704422774 -1.5342984156258153 -0.9154363466305139"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_29"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_31"/>
<joint name="r_lower_leg_skin_31_fixed_joint" type="fixed">
<origin xyz="0.03914639999999998 -0.042270899999999986 0.006327000000000027" rpy="-6.583817471389409e-07 -1.4186494462021593 2.2085303298592955"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_31"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_32"/>
<joint name="r_lower_leg_skin_32_fixed_joint" type="fixed">
<origin xyz="0.045983029999999994 0.03258469999999997 -0.080733" rpy="-3.141590149878832 -1.5223828979770995 0.6459403808870791"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_32"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_35"/>
<joint name="r_lower_leg_skin_35_fixed_joint" type="fixed">
<origin xyz="0.04774867999999998 -0.031231900000000007 -0.08011299999999999" rpy="-3.1415866827530436 -1.517584673322529 -0.541532486468427"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_35"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_36"/>
<joint name="r_lower_leg_skin_36_fixed_joint" type="fixed">
<origin xyz="0.05322409999999998 -0.015601800000000027 -0.088362" rpy="-3.141590341443774 -1.5158726528065043 -0.20740733566009956"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_36"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_37"/>
<joint name="r_lower_leg_skin_37_fixed_joint" type="fixed">
<origin xyz="0.055257199999999985 0.0009643999999999764 -0.078318" rpy="-3.1415818045233417 -1.5231833689799856 0.007524505830633038"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_37"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_38"/>
<joint name="r_lower_leg_skin_38_fixed_joint" type="fixed">
<origin xyz="0.04880468999999998 -0.03126290000000001 -0.060757000000000005" rpy="3.1415866519890936 -1.515729955403707 -0.5421535995897704"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_38"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_41"/>
<joint name="r_lower_leg_skin_41_fixed_joint" type="fixed">
<origin xyz="0.05660089999999998 -0.015912900000000008 -0.049853999999999954" rpy="-3.1415919882511 -1.4068134359704096 -0.24823308941290081"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_41"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_42"/>
<joint name="r_lower_leg_skin_42_fixed_joint" type="fixed">
<origin xyz="0.05701059999999998 0.000796199999999983 -0.059079999999999966" rpy="3.14158970239263 -1.4352475041611767 0.006879436515041273"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_42"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_43"/>
<joint name="r_lower_leg_skin_43_fixed_joint" type="fixed">
<origin xyz="0.04712543999999999 0.03236529999999998 -0.06136200000000003" rpy="-3.1415913662061943 -1.5384303823718677 0.6242175236666732"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_43"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_46"/>
<joint name="r_lower_leg_skin_46_fixed_joint" type="fixed">
<origin xyz="0.05581569999999999 0.01721639999999998 -0.05018" rpy="-3.141589878093782 -1.4275988160283246 0.3256077108756132"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_46"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_47"/>
<joint name="r_lower_leg_skin_47_fixed_joint" type="fixed">
<origin xyz="0.052641649999999984 0.017638799999999975 -0.08886" rpy="3.141589635185022 -1.51690559405793 0.26264042505775587"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_47"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_49"/>
<joint name="r_lower_leg_skin_49_fixed_joint" type="fixed">
<origin xyz="0.04113139 0.03243849999999996 -0.138859" rpy="-3.141589347506919 -1.489961356950246 0.729763592113092"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_49"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_50"/>
<joint name="r_lower_leg_skin_50_fixed_joint" type="fixed">
<origin xyz="0.04301696299999999 0.03252729999999997 -0.11946899999999999" rpy="3.1415906959631426 -1.4990073263616448 0.6957840200808761"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_50"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_51"/>
<joint name="r_lower_leg_skin_51_fixed_joint" type="fixed">
<origin xyz="0.05141583999999999 0.01775899999999997 -0.10820600000000002" rpy="-3.141588901786459 -1.5062847571686897 0.27207993571349487"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_51"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_52"/>
<joint name="r_lower_leg_skin_52_fixed_joint" type="fixed">
<origin xyz="0.052998339999999984 0.001266399999999973 -0.11689500000000003" rpy="-3.1415916404202857 -1.5031867442105085 0.010871726099418466"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_52"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_53"/>
<joint name="r_lower_leg_skin_53_fixed_joint" type="fixed">
<origin xyz="0.05207313999999998 -0.015433900000000028 -0.10765399999999997" rpy="3.1415906398667093 -1.5059530744712215 -0.21140732289166783"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_53"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_54"/>
<joint name="r_lower_leg_skin_54_fixed_joint" type="fixed">
<origin xyz="0.045127099999999976 -0.03074890000000001 -0.11878700000000003" rpy="3.141588251928216 -1.4974514557145624 -0.5751153744726872"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_54"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_55"/>
<joint name="r_lower_leg_skin_55_fixed_joint" type="fixed">
<origin xyz="0.04350267899999998 -0.030488900000000027 -0.13814300000000007" rpy="3.1415890648626297 -1.4899578703820784 -0.5972199437885269"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_55"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_56"/>
<joint name="r_lower_leg_skin_56_fixed_joint" type="fixed">
<origin xyz="0.049268409999999985 -0.015121000000000037 -0.1462179999999999" rpy="-3.141589204039199 -1.491248198275157 -0.22348447640041147"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_56"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_60"/>
<joint name="r_lower_leg_skin_60_fixed_joint" type="fixed">
<origin xyz="0.04836967999999999 0.018055999999999968 -0.14693799999999996" rpy="-3.141591733372508 -1.4898596852742692 0.3029518719544257"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_60"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_lower_leg_skin_61"/>
<joint name="r_lower_leg_skin_61_fixed_joint" type="fixed">
<origin xyz="0.051619539999999985 0.0014265999999999723 -0.13616899999999993" rpy="-3.141591009251115 -1.4960209708613401 0.013201427520491136"/>
<parent link="r_lower_leg"/>
<child link="r_lower_leg_skin_61"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_ankle_1">
<inertial>
<origin xyz="0.01514359999999999 -0.000868600000000011 4.199999999998649e-05" rpy="1.5707963267948961 0 1.5707963267948961"/>
<mass value="0.6803"/>
<inertia ixx="0.0004046188489317631" ixy="7.498192869450776e-07" ixz="-3.013494676905822e-05" iyy="0.00044863365466369986" iyz="2.5726697409005395e-06" izz="0.00030823593913944066"/>
</inertial>
<visual>
<origin xyz="0.0437090152 0.07009999200000011 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_ankle_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.0437090152 0.07009999200000011 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_ankle_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_ankle_pitch" type="revolute">
<origin xyz="0 0 -0.20049999999999996" rpy="0 0 0"/>
<axis xyz="2.220446049250313e-16 0.9999999999999998 0.0"/>
<parent link="r_lower_leg"/>
<child link="r_ankle_1"/>
<limit effort="37.0" lower="-0.6108652381980153" upper="0.6108652381980153" velocity="7.64"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_ankle_2">
<inertial>
<origin xyz="0.0011445999999999956 3.599999999992498e-06 -0.03852" rpy="1.5707963267948961 0 1.5707963267948961"/>
<mass value="0.265122"/>
<inertia ixx="0.01" ixy="-4.74606e-08" ixz="4.94571e-08" iyy="0.01" iyz="-4.29975e-06" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0.043787799618642 0.07008610019070811 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_ankle_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.043787799618642 0.07008610019070811 0.5871379999999998" rpy="1.5707963267948961 0 1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_foot_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_ankle_roll" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="-0.9999999999999998 0.0 -2.220446049250313e-16"/>
<parent link="r_ankle_1"/>
<child link="r_ankle_2"/>
<limit effort="37.0" lower="-0.4363323129985824" upper="0.4363323129985824" velocity="7.64"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="r_foot_ft_gyro_3b14"/>
<joint name="r_foot_ft_gyro_3b14_fixed_joint" type="fixed">
<origin xyz="0.0040000999999999926 -0.00860000000000001 -0.045282000000000044" rpy="0 0 1.5707963267948966"/>
<parent link="r_ankle_2"/>
<child link="r_foot_ft_gyro_3b14"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_foot">
<inertial>
<origin xyz="0.033600099999999994 0.005371899999999999 -0.001146999999999898" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
<mass value="0.382866"/>
<inertia ixx="0.00120946" ixy="3.74585e-07" ixz="-5.78759e-05" iyy="0.00141439" iyz="-7.80325e-06" izz="0.000273599"/>
</inertial>
<visual>
<origin xyz="0.04720901500000001 -0.07009999199999985 -0.6474380002860779" rpy="-1.5707963267948961 0 -1.5707963267948961"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_r_sole_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="r_foot_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
</visual>
<collision>
<origin xyz="0.03 0.005 0.014" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.16 0.072 0.001"/>
</geometry>
</collision>
</link>
<joint name="r_foot_ft_sensor" type="fixed">
<origin xyz="-0.003500000000000003 0 -0.0605" rpy="3.141592653589793 0 0"/>
<parent link="r_ankle_2"/>
<child link="r_foot"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_foot_ft"/>
<joint name="r_foot_ft_fixed_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_foot_ft"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole"/>
<joint name="r_sole_fixed_joint" type="fixed">
<origin xyz="0.003500000000000003 0 0.0040000000000000036" rpy="-3.141592653589793 0 0"/>
<parent link="r_foot"/>
<child link="r_sole"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_0"/>
<joint name="r_sole_skin_0_fixed_joint" type="fixed">
<origin xyz="0.11559999999999998 -0.007499999999999993 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_1"/>
<joint name="r_sole_skin_1_fixed_joint" type="fixed">
<origin xyz="0.10124239999999998 0.005427600000000005 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_1"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_2"/>
<joint name="r_sole_skin_2_fixed_joint" type="fixed">
<origin xyz="0.10525929999999997 0.024325399999999997 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_2"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_3"/>
<joint name="r_sole_skin_3_fixed_joint" type="fixed">
<origin xyz="0.09090169999999997 0.03725289999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_3"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_4"/>
<joint name="r_sole_skin_4_fixed_joint" type="fixed">
<origin xyz="0.07252729999999998 0.03128289999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_4"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_8"/>
<joint name="r_sole_skin_8_fixed_joint" type="fixed">
<origin xyz="0.050136039999999986 0.006414799999999998 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_8"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_9"/>
<joint name="r_sole_skin_9_fixed_joint" type="fixed">
<origin xyz="0.04611918999999999 -0.012483000000000008 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_9"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_10"/>
<joint name="r_sole_skin_10_fixed_joint" type="fixed">
<origin xyz="0.060476699999999994 -0.0254106 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_10"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_11"/>
<joint name="r_sole_skin_11_fixed_joint" type="fixed">
<origin xyz="0.07885119999999998 -0.019440400000000004 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_11"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_12"/>
<joint name="r_sole_skin_12_fixed_joint" type="fixed">
<origin xyz="0.08286799999999998 -0.0005426000000000042 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_12"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_13"/>
<joint name="r_sole_skin_13_fixed_joint" type="fixed">
<origin xyz="0.06851049999999997 0.012385000000000007 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_13"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_14"/>
<joint name="r_sole_skin_14_fixed_joint" type="fixed">
<origin xyz="0.09320869999999999 -0.032368 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_14"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_15"/>
<joint name="r_sole_skin_15_fixed_joint" type="fixed">
<origin xyz="0.11158309999999998 -0.0263978 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_15"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_17"/>
<joint name="r_sole_skin_17_fixed_joint" type="fixed">
<origin xyz="-0.02968549999999999 0.03325689999999999 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_17"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_18"/>
<joint name="r_sole_skin_18_fixed_joint" type="fixed">
<origin xyz="-0.0480599 0.027286999999999978 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_18"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_19"/>
<joint name="r_sole_skin_19_fixed_joint" type="fixed">
<origin xyz="-0.052076700000000004 0.008389200000000013 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_19"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_20"/>
<joint name="r_sole_skin_20_fixed_joint" type="fixed">
<origin xyz="-0.03771920000000001 -0.004538399999999984 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_20"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_21"/>
<joint name="r_sole_skin_21_fixed_joint" type="fixed">
<origin xyz="0.03577849999999999 0.01934240000000001 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_21"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_22"/>
<joint name="r_sole_skin_22_fixed_joint" type="fixed">
<origin xyz="0.027744799999999997 -0.018453200000000003 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_22"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_24"/>
<joint name="r_sole_skin_24_fixed_joint" type="fixed">
<origin xyz="-0.004987199999999997 -0.011495800000000007 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_24"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_25"/>
<joint name="r_sole_skin_25_fixed_joint" type="fixed">
<origin xyz="0.013387200000000002 -0.005525599999999992 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_25"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_26"/>
<joint name="r_sole_skin_26_fixed_joint" type="fixed">
<origin xyz="0.017404099999999992 0.0133722 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_26"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_27"/>
<joint name="r_sole_skin_27_fixed_joint" type="fixed">
<origin xyz="0.0030464999999999867 0.026299799999999998 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_27"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_28"/>
<joint name="r_sole_skin_28_fixed_joint" type="fixed">
<origin xyz="-0.015327899999999992 0.020329600000000003 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_28"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_sole_skin_29"/>
<joint name="r_sole_skin_29_fixed_joint" type="fixed">
<origin xyz="-0.019344799999999995 0.001431799999999997 0.007500000000000062" rpy="0 0 0"/>
<parent link="r_foot"/>
<child link="r_sole_skin_29"/>
<dynamics damping="0.1"/>
</joint>
<link name="torso_1">
<inertial>
<origin xyz="0.027092135899999998 0.02914798 -0.00043979999999999714" rpy="0 0 0"/>
<mass value="0.67144"/>
<inertia ixx="0.00040911" ixy="-1.04522e-06" ixz="-1.02516e-06" iyy="0.000384141" iyz="6.50708e-06" izz="0.000299445"/>
</inertial>
<visual>
<origin xyz="0.027046299809264998 0.03199999999999968 0.036400000000000286" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="torso_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.027046299809264998 0.03199999999999968 0.036400000000000286" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="torso_pitch" type="revolute">
<origin xyz="0 0.027046299999999992 0" rpy="1.5707963267948961 0 -1.5707963267948961"/>
<axis xyz="1.0 0.0 0.0"/>
<parent link="root_link"/>
<child link="torso_1"/>
<limit effort="50000" lower="-0.3490658503988659" upper="1.2217304763960306" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="torso_2">
<inertial>
<origin xyz="-0.00011350780926499999 0.036152500000000004 0.05709630000000001" rpy="0 0 0"/>
<mass value="0.425685"/>
<inertia ixx="0.000829234" ixy="2.37006e-08" ixz="9.25231e-08" iyy="0.000436517" iyz="-1.74814e-07" izz="0.000604802"/>
</inertial>
<visual>
<origin xyz="0 0.1433 0.03865310000000001" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="torso_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0.1433 0.03865310000000001" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_lap_belt_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="torso_roll" type="revolute">
<origin xyz="0.027046299809264998 0.032 -0.05734460000000001" rpy="0 0 0"/>
<axis xyz="0.0 0.0 -1.0"/>
<parent link="torso_1"/>
<child link="torso_2"/>
<limit effort="50000" lower="-0.5235987755982988" upper="0.5235987755982988" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="chest">
<inertial>
<origin xyz="0.000188619190735 0.07309099999999999 -0.047238100000000005" rpy="0 0 0"/>
<mass value="7.638"/>
<inertia ixx="0.043032487861801666" ixy="2.9107538880437883e-05" ixz="0.00018198522994852988" iyy="0.04408357255482159" iyz="-0.0004291064091076428" izz="0.026056324991143805"/>
</inertial>
<visual>
<origin xyz="0 0.09280000000000001 -0.024189000000000002" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="chest_color">
<color rgba="0.635 0.137 0.114 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0.09280000000000001 -0.024189000000000002" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_chest_bb_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="torso_yaw" type="revolute">
<origin xyz="0 0.05 0.06284210000000001" rpy="0 0 0"/>
<axis xyz="0.0 -1.0 0.0"/>
<parent link="torso_2"/>
<child link="chest"/>
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="chest_ems_gyro_eb1"/>
<joint name="chest_ems_gyro_eb1_fixed_joint" type="fixed">
<origin xyz="0.069201600190735 0.06454800000000001 -0.0635258" rpy="3.1415169122972952 -0.2617993091222473 0.0002926418802545251"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb1"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_ems_gyro_eb2"/>
<joint name="chest_ems_gyro_eb2_fixed_joint" type="fixed">
<origin xyz="0.016037100190735 0.08755899999999998 -0.0653479" rpy="3.141590501042822 0.2617993198185103 3.1415843367812997"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb2"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_ems_gyro_eb3"/>
<joint name="chest_ems_gyro_eb3_fixed_joint" type="fixed">
<origin xyz="-0.018641699809265 0.064521 -0.0770785" rpy="3.141109162025268 0.26110051647116095 -0.00030907146255546275"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb3"/>
<dynamics damping="0.1"/>
</joint>
<link name="chest_ems_gyro_eb4"/>
<joint name="chest_ems_gyro_eb4_fixed_joint" type="fixed">
<origin xyz="-0.06657839980926501 0.08755899999999998 -0.0518054" rpy="-3.1415905047625503 -0.26179931981852844 3.141584339870295"/>
<parent link="chest"/>
<child link="chest_ems_gyro_eb4"/>
<dynamics damping="0.1"/>
</joint>
<link name="neck_1">
<inertial>
<origin xyz="0.0143705608 0.006567000000000017 -0.006384200000000003" rpy="0 0 0"/>
<mass value="0.125793"/>
<inertia ixx="0.01" ixy="8.09156e-08" ixz="-3.74998e-08" iyy="0.01" iyz="9.39717e-06" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0.014299999809265 -0.07999699999999998 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="neck_1_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0.014299999809265 -0.07999699999999998 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_1_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="neck_pitch" type="revolute">
<origin xyz="-0.014299999809265 0.17279699999999998 0.005311800000000002" rpy="0 0 0"/>
<axis xyz="-1.0 0.0 0.0"/>
<parent link="chest"/>
<child link="neck_1"/>
<limit effort="50000" lower="-0.6981317007977318" upper="0.3839724354387525" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="neck_2">
<inertial>
<origin xyz="-8.8573009265e-05 0.03522499999999998 -0.01954527" rpy="0 0 0"/>
<mass value="0.177087"/>
<inertia ixx="0.01" ixy="-5.25591e-07" ixz="4.68307e-07" iyy="0.01" iyz="9.81476e-06" izz="0.01"/>
</inertial>
<visual>
<origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="neck_2_color">
<color rgba="0.9 0.9 0.9 1"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.089497 -0.05030077" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_neck_2_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="neck_roll" type="revolute">
<origin xyz="0.014299999809265 0.009500000000000008 0.020799969999999997" rpy="0 0 0"/>
<axis xyz="0.0 0.0 1.0"/>
<parent link="neck_1"/>
<child link="neck_2"/>
<limit effort="50000" lower="-0.3490658503988659" upper="0.3490658503988659" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="head">
<inertial>
<origin xyz="-0.000574157809265 0.11351100000000003 -0.007539199999999999" rpy="0 0 0"/>
<mass value="1.50691"/>
<inertia ixx="0.00680478" ixy="-1.60267e-05" ixz="7.28166e-05" iyy="0.00634736" iyz="0.000292091" izz="0.00478116"/>
</inertial>
<visual>
<origin xyz="0 -0.06715299999999999 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="head_color">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 -0.06715299999999999 -0.029500800000000004" rpy="0 0 0"/>
<geometry>
<mesh filename="package://iCub/meshes/simmechanics/sim_sea_2-5_head_prt-binary.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="neck_yaw" type="revolute">
<origin xyz="0 -0.022344000000000003 -0.020799969999999997" rpy="0 0 0"/>
<axis xyz="0.0 1.0 0.0"/>
<parent link="neck_2"/>
<child link="head"/>
<limit effort="50000" lower="-0.8726646259971648" upper="0.8726646259971648" velocity="50000"/>
<dynamics damping="1.0" friction="0.0"/>
</joint>
<link name="imu_frame"/>
<joint name="imu_frame_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="imu_frame"/>
<dynamics damping="0.1"/>
</joint>
<link name="head_imu_0"/>
<joint name="head_imu_0_fixed_joint" type="fixed">
<origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
<parent link="head"/>
<child link="head_imu_0"/>
<dynamics damping="0.1"/>
</joint>
<link name="r_shoulder_1">