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+              <geom name="right_tarsus_collision" type="mesh" mesh="collision_right_tarsus_hull" class="collision" />
+              <geom name="right_tarsus_visual" type="mesh" mesh="right_tarsus_right_tarsus" material="default_material" class="visual" />
+              <body name="right_toe_pitch" pos="-0.377 0 0">
+                <inertial pos="0 0 0" mass="0.08772028" diaginertia="1.572e-05 1.128e-05 1.148e-05" />
+                <joint name="idx11_right_toe_pitch" type="hinge" range="-1.047197533 0.523598767" axis="0 0 1" />
+                <geom name="right_toe_pitch_collision" type="mesh" mesh="collision_right_toe_pitch_hull" class="collision" />
+                <geom name="right_toe_pitch_visual" type="mesh" mesh="right_toe_pitch_right_toe_pitch" material="default_material" class="visual" />
+                <body name="right_toe_roll" quat="0.7071 -0.7071 0 0">
+                  <inertial pos="-0.03898340 -0.00002335 0.03167314" mass="1.21058213" diaginertia="0.00701152 0.0065321 0.00112114" />
+                  <joint name="idx12_right_toe_roll" type="hinge" range="-0.488692182 0.488692182" axis="0 0 1" />
+                  <geom name="right_toe_roll_collision" type="mesh" mesh="collision_right_toe_roll_hull" class="collision" />
+                  <geom name="right_toe_roll_visual" type="mesh" mesh="right_toe_roll_right_toe_roll" material="default_material" class="visual" />
+                </body>
+              </body>
+              <body name="right_toe_A" pos="-0.138 0 0.0315" quat="0.7071 0 0 -0.7071">
+                <inertial pos="0.0161564618609389 0.00025642819293159 -0.001574295479989" mass="0.0959876865493352" diaginertia="1.47306517352712e-05 5.94672678768343e-05 6.68731357306057e-05" />
+                <geom name="right_toe_A_collision" type="mesh" mesh="collision_right_toe_A_hull" class="collision" />
+                <geom name="right_toe_A_visual" type="mesh" mesh="right_toe_A_right_toe_A" material="default_material" class="visual" />
+                <body name="right_toe_A_rod" pos="0.063 0 0" quat="0 0.7071 0.7071 0">
+                  <inertial pos="-0.119506775010566 2.76775022988937E-05 2.07236899269908E-05" mass="0.133194826485545" diaginertia="4.13825457277786e-06 0.00062505988112825 0.000627531716420421" />
+                  <geom name="right_toe_A_rod_collision" type="mesh" mesh="collision_right_toe_A_rod_hull" class="collision" />
+                  <geom name="right_toe_A_rod_visual" type="mesh" mesh="right_toe_A_rod_right_toe_A_rod" material="default_material" class="visual" />
+                </body>
+              </body>
+              <body name="right_toe_B" pos="-0.232 0 -0.0315" quat="0.7071 0 0 -0.7071">
+                <inertial pos="0.0161605408863716 0.000255895525077321 0.00157429551102603" mass="0.0959876868444429" diaginertia="1.47306045969354e-05 5.94673154325773e-05 6.68731361073396e-05" />
+                <geom name="right_toe_B_collision" type="mesh" mesh="collision_right_toe_B_hull" class="collision" />
+                <geom name="right_toe_B_visual" type="mesh" mesh="right_toe_B_right_toe_B" material="default_material" class="visual" />
+                <body name="right_toe_B_rod" pos="0.063 0 0" quat="0 0.7071 0.7071 0">
+                  <inertial pos="-0.0724977388604912 2.97174338039705E-05 2.75478483252878E-05" mass="0.0989853087337611" diaginertia="3.41390533484477e-06 0.000168898913182443 0.000171065639810983" />
+                  <geom name="right_toe_B_rod_collision" type="mesh" mesh="collision_right_toe_B_rod_hull" class="collision" />
+                  <geom name="right_toe_B_rod_visual" type="mesh" mesh="right_toe_B_rod_right_toe_B_rod" material="default_material" class="visual" />
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="left_arm_link_base" pos="-0.03779 0 0.3421" quat="0.7071 0.7071 0 0">
+        <body name="left_arm_link01" pos="-0.0 0.0 -0.191 " quat="0.5608 -0.4307 -0.4307 -0.5608">
+          <inertial pos="-0.002330 0.008782 0.032870" mass="0.276944" diaginertia="0.000595 0.000381 0.000542" />
+          <geom name="left_arm_link01_collision" type="mesh" mesh="collision_left_arm_link01_hull" class="collision" />
+          <geom name="left_arm_link01_visual" type="mesh" mesh="left_arm_link01_left_arm_link01" material="default_material" class="visual" />
+          <body name="left_arm_link02" quat="0.7071 0.7071 0 0">
+            <inertial pos="-0.000451 -0.051682 -0.001084" mass="2.852114" diaginertia="0.011984 0.00288 0.011709" />
+            <geom name="left_arm_link02_collision" type="mesh" mesh="collision_left_arm_link02_hull" class="collision" />
+            <geom name="left_arm_link02_visual" type="mesh" mesh="left_arm_link02_left_arm_link02" material="default_material" class="visual" />
+            <body name="left_arm_link03" pos="0 -0.154 0" quat="0.7071 0.7071 0 0">
+              <inertial pos="-0.000673 0.001065 0.079222" mass="1.310295" diaginertia="0.00203 0.002186 0.001189" />
+              <geom name="left_arm_link03_collision" type="mesh" mesh="collision_left_arm_link03_hull" class="collision" />
+              <geom name="left_arm_link03_visual" type="mesh" mesh="left_arm_link03_left_arm_link03" material="default_material" class="visual" />
+              <body name="left_arm_link04" pos="0 0 0.093" quat="0.5 -0.5 -0.5 0.5">
+                <inertial pos="0.000273 -0.066853 -0.007408" mass="0.677343" diaginertia="0.000893 0.000508 0.000767" />
+                <geom name="left_arm_link04_collision" type="mesh" mesh="collision_left_arm_link04_hull" class="collision" />
+                <geom name="left_arm_link04_visual" type="mesh" mesh="left_arm_link04_left_arm_link04" material="default_material" class="visual" />
+                <body name="left_arm_link05" pos="0  -0.103 0.0" quat="0.5002 0.5002 -0.4998 0.4998">
+                  <inertial pos="-0.001962 -0.000002 0.071786" mass="0.260886" diaginertia="0.000638 0.000618 0.000229" />
+                  <geom name="left_arm_link05_collision" type="mesh" mesh="collision_left_arm_link05_hull" class="collision" />
+                  <geom name="left_arm_link05_visual" type="mesh" mesh="left_arm_link05_left_arm_link05" material="default_material" class="visual" />
+                  <body name="left_arm_link06" pos="-0.01 0 0.1595" quat="0.5 -0.5 0.5 0.5">
+                    <inertial pos="0.00018011 -0.00021701 0.00000000" mass="0.02504627" diaginertia="1.97e-06 1.73e-06 7.1e-07" />
+                    <geom name="left_arm_link06_collision" type="mesh" mesh="collision_left_arm_link06_hull" class="collision" />
+                    <geom name="left_arm_link06_visual" type="mesh" mesh="left_arm_link06_left_arm_link06" material="default_material" class="visual" />
+                    <body name="left_arm_link07" quat="0.7071 0.7071 0 0">
+                      <inertial pos="-0.01211757 -0.00009712 0.00886324" mass="0.05050219" diaginertia="8.28e-06 1.14e-05 1.294e-05" />
+                      <geom name="left_arm_link07_collision" type="mesh" mesh="collision_left_arm_link07_hull" class="collision" />
+                      <geom name="left_arm_link07_visual" type="mesh" mesh="left_arm_link07_left_arm_link07" material="default_material" class="visual" />
+                      <body name="left_hand" quat="0.5 0.5 -0.5 -0.5">
+                        <geom name="left_hand_collision" type="mesh" mesh="collision_left_hand_hull" class="collision" />
+                        <geom name="left_hand_visual" type="mesh" mesh="left_hand_left_hand" material="default_material" class="visual" />
+                      </body>
+                    </body>
+                  </body>
+                  <body name="left_wrist_motor_A" pos="0.005 0.02245 0.0245" quat="0.0074 0 -1 0">
+                    <geom name="left_wrist_motor_A_collision" type="mesh" mesh="collision_left_wrist_motor_A_hull" class="collision" />
+                    <geom name="left_wrist_motor_A_visual" type="mesh" mesh="left_wrist_motor_A_left_wrist_motor_A" material="default_material" class="visual" />
+                    <body name="left_wrist_rod_A" pos="0 0 -0.135015" quat="0 0 1 0">
+                      <geom name="left_wrist_rod_A_collision" type="mesh" mesh="collision_left_wrist_rod_A_hull" class="collision" />
+                      <geom name="left_wrist_rod_A_visual" type="mesh" mesh="left_wrist_rod_A_left_wrist_rod_A" material="default_material" class="visual" />
+                    </body>
+                  </body>
+                  <body name="left_wrist_motor_B" pos="0.005 -0.02245 0.0245" quat="0.0074 0 -1 0">
+                    <geom name="left_wrist_motor_B_collision" type="mesh" mesh="collision_left_wrist_motor_B_hull" class="collision" />
+                    <geom name="left_wrist_motor_B_visual" type="mesh" mesh="left_wrist_motor_B_left_wrist_motor_B" material="default_material" class="visual" />
+                    <body name="left_wrist_rod_B" pos="0 0 -0.135015" quat="0 0 1 0">
+                      <geom name="left_wrist_rod_B_collision" type="mesh" mesh="collision_left_wrist_rod_B_hull" class="collision" />
+                      <geom name="left_wrist_rod_B_visual" type="mesh" mesh="left_wrist_rod_B_left_wrist_rod_B" material="default_material" class="visual" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="right_arm_link_base" pos="-0.03779 0 0.3421" quat="0.7071 0.7071 0 0">
+        <body name="right_arm_link01" pos="-0.0 0.0 0.191 " quat="0.5608 0.4307 0.4307 -0.5608">
+          <inertial pos="-0.002330 0.008782 -0.032870" mass="0.276944" diaginertia="0.000595 0.000381 0.000542" />
+          <geom name="right_arm_link01_collision" type="mesh" mesh="collision_right_arm_link01_hull" class="collision" />
+          <geom name="right_arm_link01_visual" type="mesh" mesh="right_arm_link01_right_arm_link01" material="default_material" class="visual" />
+          <body name="right_arm_link02" quat="0.7071 0.7071 0 0">
+            <inertial pos="-0.000451 0.051682 -0.001084" mass="2.852114" diaginertia="0.011984 0.00288 0.011709" />
+            <geom name="right_arm_link02_collision" type="mesh" mesh="collision_right_arm_link02_hull" class="collision" />
+            <geom name="right_arm_link02_visual" type="mesh" mesh="right_arm_link02_right_arm_link02" material="default_material" class="visual" />
+            <body name="right_arm_link03" pos="0 0.154  0" quat="0.7071 0.7071 0 0">
+              <inertial pos="-0.000673 0.001065 -0.079222" mass="1.310295" diaginertia="0.00203 0.002186 0.001189" />
+              <geom name="right_arm_link03_collision" type="mesh" mesh="collision_right_arm_link03_hull" class="collision" />
+              <geom name="right_arm_link03_visual" type="mesh" mesh="right_arm_link03_right_arm_link03" material="default_material" class="visual" />
+              <body name="right_arm_link04" pos="0 0 -0.093" quat="0.5 -0.5 -0.5 0.5">
+                <inertial pos="0.000273 0.066853 -0.007408" mass="0.677343" diaginertia="0.000893 0.000508 0.000767" />
+                <geom name="right_arm_link04_collision" type="mesh" mesh="collision_right_arm_link04_hull" class="collision" />
+                <geom name="right_arm_link04_visual" type="mesh" mesh="right_arm_link04_right_arm_link04" material="default_material" class="visual" />
+                <body name="right_arm_link05" pos="0  0.103 0.0" quat="0.5002 0.5002 -0.4998 0.4998">
+                  <inertial pos="-0.001962 -0.000002 -0.071786" mass="0.260886" diaginertia="0.000638 0.000618 0.000229" />
+                  <geom name="right_arm_link05_collision" type="mesh" mesh="collision_right_arm_link05_hull" class="collision" />
+                  <geom name="right_arm_link05_visual" type="mesh" mesh="right_arm_link05_right_arm_link05" material="default_material" class="visual" />
+                  <body name="right_arm_link06" pos="-0.01 0 -0.1595" quat="0.5 -0.5 0.5 0.5">
+                    <inertial pos="-0.00018011 -0.00021701 0.00000000" mass="0.02504627" diaginertia="1.97e-06 1.73e-06 7.1e-07" />
+                    <geom name="right_arm_link06_collision" type="mesh" mesh="collision_right_arm_link06_hull" class="collision" />
+                    <geom name="right_arm_link06_visual" type="mesh" mesh="right_arm_link06_right_arm_link06" material="default_material" class="visual" />
+                    <body name="right_arm_link07" quat="0.7071 0.7071 0 0">
+                      <inertial pos="0.01211757 -0.00009712 0.00886324" mass="0.05050219" diaginertia="8.28e-06 1.14e-05 1.294e-05" />
+                      <geom name="right_arm_link07_collision" type="mesh" mesh="collision_right_arm_link07_hull" class="collision" />
+                      <geom name="right_arm_link07_visual" type="mesh" mesh="right_arm_link07_right_arm_link07" material="default_material" class="visual" />
+                      <body name="right_hand" quat="0.5 -0.5 0.5 -0.5">
+                        <geom name="right_hand_collision" type="mesh" mesh="collision_right_hand_hull" class="collision" />
+                        <geom name="right_hand_visual" type="mesh" mesh="right_hand_right_hand" material="default_material" class="visual" />
+                      </body>
+                    </body>
+                  </body>
+                  <body name="right_wrist_motor_A" pos="0.005 0.02245 -0.0245" quat="1 0 -0.0074 0">
+                    <geom name="right_wrist_motor_A_collision" type="mesh" mesh="collision_right_wrist_motor_A_hull" class="collision" />
+                    <geom name="right_wrist_motor_A_visual" type="mesh" mesh="right_wrist_motor_A_right_wrist_motor_A" material="default_material" class="visual" />
+                    <body name="right_wrist_rod_A" pos="0 0 -0.135015" quat="0 0 1 0">
+                      <geom name="right_wrist_rod_A_collision" type="mesh" mesh="collision_right_wrist_rod_A_hull" class="collision" />
+                      <geom name="right_wrist_rod_A_visual" type="mesh" mesh="right_wrist_rod_A_right_wrist_rod_A" material="default_material" class="visual" />
+                    </body>
+                  </body>
+                  <body name="right_wrist_motor_B" pos="0.005 -0.02245 -0.0245" quat="1 0 -0.0074 0">
+                    <geom name="right_wrist_motor_B_collision" type="mesh" mesh="collision_right_wrist_motor_B_hull" class="collision" />
+                    <geom name="right_wrist_motor_B_visual" type="mesh" mesh="right_wrist_motor_B_right_wrist_motor_B" material="default_material" class="visual" />
+                    <body name="right_wrist_rod_B" pos="0 0 -0.135015" quat="0 0 1 0">
+                      <geom name="right_wrist_rod_B_collision" type="mesh" mesh="collision_right_wrist_rod_B_hull" class="collision" />
+                      <geom name="right_wrist_rod_B_visual" type="mesh" mesh="right_wrist_rod_B_right_wrist_rod_B" material="default_material" class="visual" />
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+      <body name="head_link01" pos="-0.03779 0 0.4101">
+        <inertial pos="-0.00154008 0.00649494 0.11627791" mass="1.39889495" diaginertia="0.00378192 0.0039315 0.00152438" />
+        <geom name="head_link01_collision" type="mesh" mesh="collision_head_link01_hull" class="collision" />
+        <geom name="head_link01_visual" type="mesh" mesh="head_link01_head_link01" material="default_material" class="visual" />
+        <body name="head_link02" pos="-0.00501 0 0.16059" quat="0.7071 0.7071 0 0">
+          <inertial pos="0.03256533 0.02834041 0.00009476" mass="0.65606942" diaginertia="0.00350189 0.00369636 0.0036095" />
+          <geom name="head_link02_collision" type="mesh" mesh="collision_head_link02_hull" class="collision" />
+          <geom name="head_link02_visual" type="mesh" mesh="head_link02_head_link02" material="default_material" class="visual" />
+        </body>
+      </body>
+      <!-- <freejoint name="floating_base" /> -->
+    </body>
+    <!-- <light pos="0 0 2." dir="0 0 -1" directional="true" /> -->
+    <light name="spotlight" mode="targetbodycom" target="base_link" pos="0 -1 2" />
+    <!-- <geom name="floor" class="floor" size="0 0 0.05" /> -->
+  </worldbody>
+
+  <asset>
+    <material name="default_material" rgba="0.7 0.7 0.7 1" />
+    <mesh name="collision_body_hull" file="../meshes/convex/body_hull.stl" />
+    <mesh name="base_link_body" file="../meshes/public/body.stl" />
+    <mesh name="collision_left_hip_roll_hull" file="../meshes/convex/left_hip_roll_hull.stl" />
+    <mesh name="left_hip_roll_left_hip_roll" file="../meshes/public/left_hip_roll.stl" />
+    <mesh name="collision_left_hip_yaw_hull" file="../meshes/convex/left_hip_yaw_hull.stl" />
+    <mesh name="left_hip_yaw_left_hip_yaw" file="../meshes/public/left_hip_yaw.stl" />
+    <mesh name="collision_left_hip_pitch_hull" file="../meshes/convex/left_hip_pitch_hull.stl" />
+    <mesh name="left_hip_pitch_left_hip_pitch" file="../meshes/public/left_hip_pitch.stl" />
+    <mesh name="collision_left_tarsus_hull" file="../meshes/convex/left_tarsus_hull.stl" />
+    <mesh name="left_tarsus_left_tarsus" file="../meshes/public/left_tarsus.stl" />
+    <mesh name="collision_left_toe_pitch_hull" file="../meshes/convex/left_toe_pitch_hull.stl" />
+    <mesh name="left_toe_pitch_left_toe_pitch" file="../meshes/public/left_toe_pitch.stl" />
+    <mesh name="collision_left_toe_roll_hull" file="../meshes/convex/left_toe_roll_hull.stl" />
+    <mesh name="left_toe_roll_left_toe_roll" file="../meshes/public/left_toe_roll.stl" />
+    <mesh name="collision_left_toe_A_hull" file="../meshes/convex/left_toe_A_hull.stl" />
+    <mesh name="left_toe_A_left_toe_A" file="../meshes/public/left_toe_A.stl" />
+    <mesh name="collision_left_toe_A_rod_hull" file="../meshes/convex/left_toe_A_rod_hull.stl" />
+    <mesh name="left_toe_A_rod_left_toe_A_rod" file="../meshes/public/left_toe_A_rod.stl" />
+    <mesh name="collision_left_toe_B_hull" file="../meshes/convex/left_toe_B_hull.stl" />
+    <mesh name="left_toe_B_left_toe_B" file="../meshes/public/left_toe_B.stl" />
+    <mesh name="collision_left_toe_B_rod_hull" file="../meshes/convex/left_toe_B_rod_hull.stl" />
+    <mesh name="left_toe_B_rod_left_toe_B_rod" file="../meshes/public/left_toe_B_rod.stl" />
+    <mesh name="collision_right_hip_roll_hull" file="../meshes/convex/right_hip_roll_hull.stl" />
+    <mesh name="right_hip_roll_right_hip_roll" file="../meshes/public/right_hip_roll.stl" />
+    <mesh name="collision_right_hip_yaw_hull" file="../meshes/convex/right_hip_yaw_hull.stl" />
+    <mesh name="right_hip_yaw_right_hip_yaw" file="../meshes/public/right_hip_yaw.stl" />
+    <mesh name="collision_right_hip_pitch_hull" file="../meshes/convex/right_hip_pitch_hull.stl" />
+    <mesh name="right_hip_pitch_right_hip_pitch" file="../meshes/public/right_hip_pitch.stl" />
+    <mesh name="collision_right_tarsus_hull" file="../meshes/convex/right_tarsus_hull.stl" />
+    <mesh name="right_tarsus_right_tarsus" file="../meshes/public/right_tarsus.stl" />
+    <mesh name="collision_right_toe_pitch_hull" file="../meshes/convex/right_toe_pitch_hull.stl" />
+    <mesh name="right_toe_pitch_right_toe_pitch" file="../meshes/public/right_toe_pitch.stl" />
+    <mesh name="collision_right_toe_roll_hull" file="../meshes/convex/right_toe_roll_hull.stl" />
+    <mesh name="right_toe_roll_right_toe_roll" file="../meshes/public/right_toe_roll.stl" />
+    <mesh name="collision_right_toe_A_hull" file="../meshes/convex/right_toe_A_hull.stl" />
+    <mesh name="right_toe_A_right_toe_A" file="../meshes/public/right_toe_A.stl" />
+    <mesh name="collision_right_toe_A_rod_hull" file="../meshes/convex/right_toe_A_rod_hull.stl" />
+    <mesh name="right_toe_A_rod_right_toe_A_rod" file="../meshes/public/right_toe_A_rod.stl" />
+    <mesh name="collision_right_toe_B_hull" file="../meshes/convex/right_toe_B_hull.stl" />
+    <mesh name="right_toe_B_right_toe_B" file="../meshes/public/right_toe_B.stl" />
+    <mesh name="collision_right_toe_B_rod_hull" file="../meshes/convex/right_toe_B_rod_hull.stl" />
+    <mesh name="right_toe_B_rod_right_toe_B_rod" file="../meshes/public/right_toe_B_rod.stl" />
+    <mesh name="collision_left_arm_link01_hull" file="../meshes/convex/left_arm_link01_hull.stl" />
+    <mesh name="left_arm_link01_left_arm_link01" file="../meshes/public/left_arm_link01.stl" />
+    <mesh name="collision_left_arm_link02_hull" file="../meshes/convex/left_arm_link02_hull.stl" />
+    <mesh name="left_arm_link02_left_arm_link02" file="../meshes/public/left_arm_link02.stl" />
+    <mesh name="collision_left_arm_link03_hull" file="../meshes/convex/left_arm_link03_hull.stl" />
+    <mesh name="left_arm_link03_left_arm_link03" file="../meshes/public/left_arm_link03.stl" />
+    <mesh name="collision_left_arm_link04_hull" file="../meshes/convex/left_arm_link04_hull.stl" />
+    <mesh name="left_arm_link04_left_arm_link04" file="../meshes/public/left_arm_link04.stl" />
+    <mesh name="collision_left_arm_link05_hull" file="../meshes/convex/left_arm_link05_hull.stl" />
+    <mesh name="left_arm_link05_left_arm_link05" file="../meshes/public/left_arm_link05.stl" />
+    <mesh name="collision_left_arm_link06_hull" file="../meshes/convex/left_arm_link06_hull.stl" />
+    <mesh name="left_arm_link06_left_arm_link06" file="../meshes/public/left_arm_link06.stl" />
+    <mesh name="collision_left_arm_link07_hull" file="../meshes/convex/left_arm_link07_hull.stl" />
+    <mesh name="left_arm_link07_left_arm_link07" file="../meshes/public/left_arm_link07.stl" />
+    <mesh name="collision_left_hand_hull" file="../meshes/convex/left_hand_hull.stl" />
+    <mesh name="left_hand_left_hand" file="../meshes/public/left_hand.stl" />
+    <mesh name="collision_left_wrist_motor_A_hull" file="../meshes/convex/left_wrist_motor_A_hull.stl" />
+    <mesh name="left_wrist_motor_A_left_wrist_motor_A" file="../meshes/public/left_wrist_motor_A.stl" />
+    <mesh name="collision_left_wrist_rod_A_hull" file="../meshes/convex/left_wrist_rod_A_hull.stl" />
+    <mesh name="left_wrist_rod_A_left_wrist_rod_A" file="../meshes/public/left_wrist_rod_A.stl" />
+    <mesh name="collision_left_wrist_motor_B_hull" file="../meshes/convex/left_wrist_motor_B_hull.stl" />
+    <mesh name="left_wrist_motor_B_left_wrist_motor_B" file="../meshes/public/left_wrist_motor_B.stl" />
+    <mesh name="collision_left_wrist_rod_B_hull" file="../meshes/convex/left_wrist_rod_B_hull.stl" />
+    <mesh name="left_wrist_rod_B_left_wrist_rod_B" file="../meshes/public/left_wrist_rod_B.stl" />
+    <mesh name="collision_right_arm_link01_hull" file="../meshes/convex/right_arm_link01_hull.stl" />
+    <mesh name="right_arm_link01_right_arm_link01" file="../meshes/public/right_arm_link01.stl" />
+    <mesh name="collision_right_arm_link02_hull" file="../meshes/convex/right_arm_link02_hull.stl" />
+    <mesh name="right_arm_link02_right_arm_link02" file="../meshes/public/right_arm_link02.stl" />
+    <mesh name="collision_right_arm_link03_hull" file="../meshes/convex/right_arm_link03_hull.stl" />
+    <mesh name="right_arm_link03_right_arm_link03" file="../meshes/public/right_arm_link03.stl" />
+    <mesh name="collision_right_arm_link04_hull" file="../meshes/convex/right_arm_link04_hull.stl" />
+    <mesh name="right_arm_link04_right_arm_link04" file="../meshes/public/right_arm_link04.stl" />
+    <mesh name="collision_right_arm_link05_hull" file="../meshes/convex/right_arm_link05_hull.stl" />
+    <mesh name="right_arm_link05_right_arm_link05" file="../meshes/public/right_arm_link05.stl" />
+    <mesh name="collision_right_arm_link06_hull" file="../meshes/convex/right_arm_link06_hull.stl" />
+    <mesh name="right_arm_link06_right_arm_link06" file="../meshes/public/right_arm_link06.stl" />
+    <mesh name="collision_right_arm_link07_hull" file="../meshes/convex/right_arm_link07_hull.stl" />
+    <mesh name="right_arm_link07_right_arm_link07" file="../meshes/public/right_arm_link07.stl" />
+    <mesh name="collision_right_hand_hull" file="../meshes/convex/right_hand_hull.stl" />
+    <mesh name="right_hand_right_hand" file="../meshes/public/right_hand.stl" />
+    <mesh name="collision_right_wrist_motor_A_hull" file="../meshes/convex/right_wrist_motor_A_hull.stl" />
+    <mesh name="right_wrist_motor_A_right_wrist_motor_A" file="../meshes/public/right_wrist_motor_A.stl" />
+    <mesh name="collision_right_wrist_rod_A_hull" file="../meshes/convex/right_wrist_rod_A_hull.stl" />
+    <mesh name="right_wrist_rod_A_right_wrist_rod_A" file="../meshes/public/right_wrist_rod_A.stl" />
+    <mesh name="collision_right_wrist_motor_B_hull" file="../meshes/convex/right_wrist_motor_B_hull.stl" />
+    <mesh name="right_wrist_motor_B_right_wrist_motor_B" file="../meshes/public/right_wrist_motor_B.stl" />
+    <mesh name="collision_right_wrist_rod_B_hull" file="../meshes/convex/right_wrist_rod_B_hull.stl" />
+    <mesh name="right_wrist_rod_B_right_wrist_rod_B" file="../meshes/public/right_wrist_rod_B.stl" />
+    <mesh name="collision_head_link01_hull" file="../meshes/convex/head_link01_hull.stl" />
+    <mesh name="head_link01_head_link01" file="../meshes/public/head_link01.stl" />
+    <mesh name="collision_head_link02_hull" file="../meshes/convex/head_link02_hull.stl" />
+    <mesh name="head_link02_head_link02" file="../meshes/public/head_link02.stl" />
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072" />
+  </asset>
+
+  <actuator>
+    <motor name="idx01_left_hip_roll" joint="idx01_left_hip_roll" />
+    <motor name="idx02_left_hip_yaw" joint="idx02_left_hip_yaw" />
+    <motor name="idx03_left_hip_pitch" joint="idx03_left_hip_pitch" />
+    <motor name="idx04_left_tarsus" joint="idx04_left_tarsus" />
+    <motor name="idx05_left_toe_pitch" joint="idx05_left_toe_pitch" />
+    <motor name="idx06_left_toe_roll" joint="idx06_left_toe_roll" />
+    <motor name="idx07_right_hip_roll" joint="idx07_right_hip_roll" />
+    <motor name="idx08_right_hip_yaw" joint="idx08_right_hip_yaw" />
+    <motor name="idx09_right_hip_pitch" joint="idx09_right_hip_pitch" />
+    <motor name="idx10_right_tarsus" joint="idx10_right_tarsus" />
+    <motor name="idx11_right_toe_pitch" joint="idx11_right_toe_pitch" />
+    <motor name="idx12_right_toe_roll" joint="idx12_right_toe_roll" />
+  </actuator>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1" />
+  </visual>
+</mujoco>
\ No newline at end of file
diff --git a/robots/agibot_a2/urdf/agibot_a2_dof12.urdf b/robots/agibot_a2/urdf/agibot_a2_dof12.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..757a1bccc36684841a507df18bcb1d1af2e3f45b
--- /dev/null
+++ b/robots/agibot_a2/urdf/agibot_a2_dof12.urdf
@@ -0,0 +1,1389 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
+     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+
+<robot name="a2_t2d0_ultra">
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.07088950 -0.00016512 0.16138088" rpy="0 0 0" />
+      <mass value="18.89945962" />
+      <inertia ixx="0.59376016" iyy="0.55503329" izz="0.18455985" ixy="0.00015891" ixz="0.00353796" iyz="-0.00043902"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/body.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.4 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/body_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- left leg -->
+  <link name="left_hip_roll">
+    <inertial>
+      <origin xyz="0.00011252 0.02130615 -0.07465143" rpy="0 0 0" />
+      <mass value="2.39059365" />
+      <inertia ixx="0.00381223" iyy="0.00368166" izz="0.00334373" ixy="-0.00000253" ixz="0.00000433" iyz="0.00019809"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_hip_roll.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_hip_roll_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx01_left_hip_roll" type="revolute">
+    <origin xyz="-0.0808 0.105 -0.0652" rpy="0.7854 0 1.5707963" />
+    <parent link="base_link" />
+    <child link="left_hip_roll" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.698" upper="0.698" effort="76.8" velocity="12" />
+  </joint>
+
+  <link name="left_hip_yaw">
+    <inertial>
+      <origin xyz="-0.00012288 0.01576460 0.10828703" rpy="0 0 0" />
+      <mass value="3.79911511" />
+      <inertia ixx="0.00941292" iyy="0.01442888" izz="0.00698406" ixy="0.00000766" ixz="0.00000238" iyz="-0.00055185"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_hip_yaw.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_hip_yaw_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx02_left_hip_yaw" type="revolute">
+    <origin xyz="0 -0.017 -0.0682" rpy="1.5707963 -1.5707963 0" />
+    <parent link="left_hip_roll" />
+    <child link="left_hip_yaw" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="1.57" effort="76.8" velocity="12" />
+  </joint>
+
+  <link name="left_hip_pitch">
+    <inertial>
+      <origin xyz="-0.06943423 0.00469099 0.02228242" rpy="0 0 0" />
+      <mass value="5.92461880" />
+      <inertia ixx="0.01406779" iyy="0.08875802" izz="0.09356940" ixy="0.00370132" ixz="-0.00808512" iyz="0.00067639"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_hip_pitch.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_hip_pitch_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx03_left_hip_pitch" type="revolute">
+    <origin xyz="0 -0.020 0.1205" rpy="1.5707963 0.7854 0" />
+    <parent link="left_hip_yaw" />
+    <child link="left_hip_pitch" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.919862144" upper="0.78539815" effort="216" velocity="12" />
+  </joint>
+
+  <link name="left_tarsus">
+    <inertial>
+      <origin xyz="-0.17711952 0.00417209 0.00013325" rpy="0 0 0" />
+      <mass value="3.02166726" />
+      <inertia ixx="0.00286094" iyy="0.02537518" izz="0.02674320" ixy="-0.00112212" ixz="0.00004708" iyz="0.00001928"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_tarsus.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0 0.5 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_tarsus_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx04_left_tarsus" type="revolute">
+    <origin xyz="-0.34 0 0" rpy="0 0 0" />
+    <parent link="left_hip_pitch" />
+    <child link="left_tarsus" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.087266461" upper="2.443460911" effort="216" velocity="12" />
+  </joint>
+
+  <link name="left_toe_pitch">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.08772028" />
+      <inertia ixx="0.00001572" iyy="0.00001128" izz="0.00001148" ixy="0.0" ixz="0.0" iyz="0.0"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_toe_pitch.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 1.0 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_toe_pitch_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx05_left_toe_pitch" type="revolute">
+    <origin xyz="-0.377 0 0" rpy="0 0 0" />
+    <parent link="left_tarsus" />
+    <child link="left_toe_pitch" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.047197533" upper="0.523598767" effort="38.4" velocity="12" />
+  </joint>
+
+  <link name="left_toe_roll">
+    <inertial>
+      <origin xyz="-0.03898340 0.00002335 0.03167314" rpy="0 0 0" />
+      <mass value="1.21058213" />
+      <inertia ixx="0.00701152" iyy="0.00653210" izz="0.00112114" ixy="0.00000021" ixz="0.00015476" iyz="-0.00000270"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_toe_roll.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.5 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_toe_roll_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx06_left_toe_roll" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5707963 0 0" />
+    <parent link="left_toe_pitch" />
+    <child link="left_toe_roll" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.488692182" upper="0.488692182" effort="38.4" velocity="12" />
+  </joint>
+
+  <link name="left_toe_A">
+    <inertial>
+      <origin xyz="0.0161339967539726 0.000256129454551002 0.00157429551114607" rpy="0 0 0" />
+      <mass value="0.0959876868449394" />
+      <inertia ixx="1.47306660350068E-05" ixy="7.10372384628399E-07" ixz="1.01514226468701E-05" iyy="5.94672539950203E-05" iyz="1.61153684004436E-07" izz="6.68731361080011E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_toe_A.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_toe_A_hull.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </collision>
+  </link>
+  <joint name="idx05_01_left_toe_motorA" type="fixed">
+    <origin xyz="-0.138 0 -0.0315" rpy="0 0 -1.5707963" />
+    <parent link="left_tarsus" />
+    <child link="left_toe_A" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.5707963" upper="1.5707963" effort="0" velocity="0" />
+  </joint>
+
+
+  <link name="left_toe_A_rod">
+    <inertial>
+      <origin xyz="-0.11950903764711 -4.54312300279813E-09 2.0722082788957E-05" rpy="0 0 0" />
+      <mass value="0.133194826485547" />
+      <inertia ixx="4.13825335822083E-06" ixy="6.85930711305851E-12" ixz="2.45335802357092E-09" iyy="0.000625059882342822" iyz="2.33641130593936E-12" izz="0.000627531716420437" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_toe_A_rod.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_toe_A_rod_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx05_01_left_toe_motorA_ball" type="fixed">
+    <origin xyz="0.063 0 0" rpy="-3.1415926535 0 1.5707963" />
+    <parent link="left_toe_A" />
+    <child link="left_toe_A_rod" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="left_toe_B">
+    <inertial>
+      <origin xyz="0.0161339965985728 0.000256125750057401 -0.00157429547986562" rpy="0 0 0" />
+      <mass value="0.0959876865489089" />
+      <inertia ixx="1.47306660936761E-05" ixy="7.10374422550964E-07" ixz="-1.0151422567557E-05" iyy="5.94672535179347E-05" iyz="-1.61154476946449E-07" izz="6.68731357299622E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_toe_B.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_toe_B_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx06_01_left_toe_motorB" type="fixed">
+    <origin xyz="-0.232 0 0.0315" rpy="0 0 -1.5707963" />
+    <parent link="left_tarsus" />
+    <child link="left_toe_B" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.5707963" upper="1.5707963" effort="0" velocity="0" />
+  </joint>
+
+  <link name="left_toe_B_rod">
+    <inertial>
+      <origin xyz="-0.0725000006179941 2.39833153337088E-11 2.75483156604583E-05" rpy="0 0 0" />
+      <mass value="0.0989853087337602" />
+      <inertia ixx="3.41390504492216E-06" ixy="-7.00234342247419E-12" ixz="-1.67152635087163E-13" iyy="0.000168898913472365" iyz="-6.91334604265453E-15" izz="0.000171065639810982" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_toe_B_rod.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_toe_B_rod_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx06_01_left_toe_motorB_ball" type="fixed">
+    <origin xyz="0.063 0 0" rpy="-3.14159265358666 0 1.57074160362305" />
+    <parent link="left_toe_B" />
+    <child link="left_toe_B_rod" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- right leg -->
+  <link name="right_hip_roll">
+    <inertial>
+      <origin xyz="-0.00011252 0.02130615 -0.07465143" rpy="0 0 0" />
+      <mass value="2.39059365" />
+      <inertia ixx="0.00381223" iyy="0.00368166" izz="0.00334373" ixy="0.00000253" ixz="-0.00000433" iyz="0.00019809"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_hip_roll.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_hip_roll_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx07_right_hip_roll" type="revolute">
+    <origin xyz="-0.0808 -0.105 -0.0652" rpy="0.7854 0 1.5707963" />
+    <parent link="base_link" />
+    <child link="right_hip_roll" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.698" upper="0.698" effort="76.8" velocity="12" />
+  </joint>
+
+  <link name="right_hip_yaw">
+    <inertial>
+      <origin xyz="-0.00012288 -0.01576460 0.10828703" rpy="0 0 0" />
+      <mass value="3.79911511" />
+      <inertia ixx="0.00941292" iyy="0.01442888" izz="0.00698406" ixy="-0.00000766" ixz="0.00000238" iyz="0.00055185"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_hip_yaw.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_hip_yaw_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx08_right_hip_yaw" type="revolute">
+    <origin xyz="0 -0.017 -0.0682" rpy="1.5707963 -1.5707963 0" />
+    <parent link="right_hip_roll" />
+    <child link="right_hip_yaw" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.57" upper="1.57" effort="76.8" velocity="12" />
+  </joint>
+
+  <link name="right_hip_pitch">
+    <inertial>
+      <origin xyz="-0.06943423 0.00469099 -0.02228242" rpy="0 0 0" />
+      <mass value="5.92461880" />
+      <inertia ixx="0.01406779" iyy="0.08875802" izz="0.09356940" ixy="0.00370132" ixz="0.00808512" iyz="-0.00067639"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_hip_pitch.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_hip_pitch_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx09_right_hip_pitch" type="revolute">
+    <origin xyz="0 0.020 0.1205" rpy="1.5707963 0.7854 0" />
+    <parent link="right_hip_yaw" />
+    <child link="right_hip_pitch" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.919862144" upper="0.78539815" effort="216" velocity="12" />
+  </joint>
+
+  <link name="right_tarsus">
+    <inertial>
+      <origin xyz="-0.17711952 0.00417209 -0.00013325" rpy="0 0 0" />
+      <mass value="3.02166726" />
+      <inertia ixx="0.00286094" iyy="0.02537518" izz="0.02674320" ixy="-0.00112212" ixz="-0.00004708" iyz="-0.00001928"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_tarsus.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0 0.5 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_tarsus_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx10_right_tarsus" type="revolute">
+    <origin xyz="-0.34 0 0" rpy="0 0 0" />
+    <parent link="right_hip_pitch" />
+    <child link="right_tarsus" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.087266461" upper="2.443460911" effort="216" velocity="12" />
+  </joint>
+
+  <link name="right_toe_pitch">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="0.08772028" />
+      <inertia ixx="0.00001572" iyy="0.00001128" izz="0.00001148" ixy="0.0" ixz="0.0" iyz="0.0"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_toe_pitch.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 1.0 0.8 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_toe_pitch_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx11_right_toe_pitch" type="revolute">
+    <origin xyz="-0.377 0 0" rpy="0 0 0" />
+    <parent link="right_tarsus" />
+    <child link="right_toe_pitch" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.047197533" upper="0.523598767" effort="38.4" velocity="12" />
+  </joint>
+
+  <link name="right_toe_roll">
+    <inertial>
+      <origin xyz="-0.03898340 -0.00002335 0.03167314" rpy="0 0 0" />
+      <mass value="1.21058213" />
+      <inertia ixx="0.00701152" iyy="0.00653210" izz="0.00112114" ixy="-0.00000021" ixz="0.00015476" iyz="0.00000270"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_toe_roll.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 0.5 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_toe_roll_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx12_right_toe_roll" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5707963 0 0" />
+    <parent link="right_toe_pitch" />
+    <child link="right_toe_roll" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.488692182" upper="0.488692182" effort="38.4" velocity="12" />
+  </joint>
+
+  <link name="right_toe_A">
+    <inertial>
+      <origin xyz="0.0161564618609389 0.00025642819293159 -0.001574295479989" rpy="0 0 0" />
+      <mass value="0.0959876865493352" />
+      <inertia ixx="1.47306517352712E-05" ixy="7.09922163047177E-07" ixz="-1.01514241960403E-05" iyy="5.94672678768343E-05" iyz="-1.61051852281769E-07" izz="6.68731357306057E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_toe_A.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_toe_A_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx11_01_right_toe_motorA" type="fixed">
+    <origin xyz="-0.138 0 0.0315" rpy="0 0 -1.5707963" />
+    <parent link="right_tarsus" />
+    <child link="right_toe_A" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+
+  <link name="right_toe_A_rod">
+    <inertial>
+      <origin xyz="-0.119506775010566 2.76775022988937E-05 2.07236899269908E-05" rpy="0 0 0" />
+      <mass value="0.133194826485545" />
+      <inertia ixx="4.13825457277786E-06" ixy="2.68995206710072E-08" ixz="2.45335787860636E-09" iyy="0.00062505988112825" iyz="2.44266827827242E-12" izz="0.000627531716420421" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_toe_A_rod.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_toe_A_rod_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx11_01_right_toe_motorA_ball " type="fixed">
+    <origin xyz="0.063 0 0" rpy="3.1415926535 0 1.5707963" />
+    <parent link="right_toe_A" />
+    <child link="right_toe_A_rod" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <link name="right_toe_B">
+    <inertial>
+      <origin xyz="0.0161605408863716 0.000255895525077321 0.00157429551102603" rpy="0 0 0" />
+      <mass value="0.0959876868444429" />
+      <inertia ixx="1.47306045969354E-05" ixy="7.08435168511415E-07" ixz="1.01514296159037E-05" iyy="5.94673154325773E-05" iyz="1.60714100188362E-07" izz="6.68731361073396E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_toe_B.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_toe_B_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx12_01_right_toe_motorB" type="fixed">
+    <origin xyz="-0.232 0 -0.0315" rpy="0 0 -1.5707963" />
+    <parent link="right_tarsus" />
+    <child link="right_toe_B" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="0" effort="0" velocity="0" />
+  </joint>
+  <link name="right_toe_B_rod">
+    <inertial>
+      <origin xyz="-0.0724977388604912 2.97174338039705E-05 2.75478483252878E-05" rpy="0 0 0" />
+      <mass value="0.0989853087337611" />
+      <inertia ixx="3.41390533484477E-06" ixy="7.16306173866274E-09" ixz="-1.67153379781756E-13" iyy="0.000168898913182443" iyz="-6.92078088288279E-15" izz="0.000171065639810983" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_toe_B_rod.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_toe_B_rod_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx12_01_right_toe_motorB_ball" type="fixed">
+    <origin xyz="0.063 0 0" rpy="3.1415926535 0 1.5707963" />
+    <parent link="right_toe_B" />
+    <child link="right_toe_B_rod" />
+    <axis xyz="0 0 0" />
+  </joint>
+
+  <!-- left arm -->
+  <link name="left_arm_link_base"/>
+  <joint name="left_arm_base_joint" type="fixed">
+    <origin rpy="1.5707963  0 0" xyz="-0.03779 0 0.3421"/>
+    <parent link="base_link"/>
+    <child link="left_arm_link_base"/>
+  </joint>
+
+  <link name="left_arm_link01">
+    <inertial>
+      <origin xyz="-0.002330 0.008782 0.032870" rpy="0 0 0" />
+      <mass value="0.276944" />
+      <inertia ixx="0.000595" iyy="0.000381" izz="0.000542" ixy="-0.000006" ixz="-0.000002" iyz="0.000053"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_arm_link01.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link01_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx13_left_arm_joint1" type="fixed">
+    <origin xyz="-0.0 0.0 -0.191 " rpy="0 -1.31 -1.5707963" />
+    <parent link="left_arm_link_base" />
+    <child link="left_arm_link01" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.967" upper="2.967" effort="0" velocity="0" />
+  </joint>
+
+
+  <link name="left_arm_link02">
+    <inertial>
+      <origin xyz="-0.000451 -0.051682 -0.001084" rpy="0 0 0" />
+      <mass value="2.852114" />
+      <inertia ixx="0.011984" iyy="0.002880" izz="0.011709" ixy="0.000039" ixz="0.000003" iyz="0.000140"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_arm_link02.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link02_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx14_left_arm_joint2" type="fixed">
+    <origin xyz="0 0 -0.0" rpy="1.5707963 0 0"/>
+    <parent link="left_arm_link01" />
+    <child link="left_arm_link02" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.523598767" upper="1.658062761" effort="0" velocity="0" />
+  </joint>
+
+  <link name="left_arm_link03">
+    <inertial>
+      <origin xyz="-0.000673 0.001065 0.079222" rpy="0 0 0" />
+      <mass value="1.310295" />
+      <inertia ixx="0.002030" iyy="0.002186" izz="0.001189" ixy="-0.000008" ixz="0.000005" iyz="0.000018"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_arm_link03.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link03_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx15_left_arm_joint3" type="fixed">
+    <origin  rpy="1.5707963 0 0" xyz="0 -0.154 0" />
+    <parent link="left_arm_link02" />
+    <child link="left_arm_link03" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.967" upper="2.967" effort="0" velocity="0" />
+  </joint>
+
+
+  <link name="left_arm_link04">
+    <inertial>
+      <origin xyz="0.000273 -0.066853 -0.007408" rpy="0 0 0" />
+      <mass value="0.677343" />
+     <inertia ixx="0.000893" iyy="0.000508" izz="0.000767" ixy="-0.000001" ixz="-0.000002" iyz="0.000238"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_arm_link04.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link04_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx16_left_arm_joint4" type="fixed">
+    <origin xyz="0 0 0.093" rpy="-1.5707963  0  1.5707963" />
+    <parent link="left_arm_link03" />
+    <child link="left_arm_link04" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.094395067" upper="0" effort="0" velocity="0" />
+  </joint>
+
+  <link name = "left_arm_link05">
+    <inertial>
+      <origin xyz="-0.001962 -0.000002 0.071786" rpy="0 0 0" />
+      <mass value="0.260886" />
+      <inertia ixx="0.000638" iyy="0.000618" izz="0.000229" ixy="0.000000" ixz="0.000015" iyz="0.000000"/>
+    </inertial>
+    <visual name = "">
+      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename = "../meshes/public/left_arm_link05.stl" />
+      </geometry>
+      <material name = "">
+        <color rgba = "0 0.5 1 1.0" />
+        <texture filename = "" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link05_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name = "idx17_left_arm_joint5" type = "fixed">
+    <origin xyz = "0  -0.103 0.0" rpy = "1.5707963 -1.57 0"  />
+    <parent link = "left_arm_link04" />
+    <child link = "left_arm_link05" />
+    <axis xyz = "0 0 1" />
+    <limit lower = "-2.87979" upper = "2.87979" velocity = "0.0" effort = "0"/>
+  </joint>
+
+
+  <link name = "left_arm_link06">
+    <inertial>
+      <origin xyz="0.00018011 -0.00021701 0.00000000" rpy="0 0 0" />
+      <mass value="0.02504627" />
+      <inertia ixx="0.00000197" iyy="0.00000173" izz="0.00000071" ixy="0.00000000" ixz="0.00000000" iyz="0.00000000"/>
+    </inertial>
+    <visual name = "">
+      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_arm_link06.stl" />
+      </geometry>
+      <material name = "">
+        <color rgba = "0.8 1.0 0.8 1" />
+        <texture filename = "" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link06_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+   <joint name = "idx18_left_arm_joint6" type = "fixed">
+    <origin xyz="-0.01 0 0.1595" rpy="-1.5707963 1.5707963 0" />
+    <parent link = "left_arm_link05" />
+    <child link = "left_arm_link06" />
+    <axis xyz = "0 0 1" />
+    <limit lower = "-0.785398" upper = "0.785398" velocity = "0.0" effort = "0" />
+  </joint>
+
+  <link name = "left_arm_link07">
+    <inertial>
+      <origin xyz="-0.01211757 -0.00009712 0.00886324" rpy="0 0 0" />
+      <mass value="0.05050219" />
+      <inertia ixx="0.00000828" iyy="0.00001140" izz="0.00001294" ixy="0.00000006" ixz="-0.00000179" iyz="0.00000004"/>
+    </inertial>
+    <visual name = "">
+      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_arm_link07.stl" />
+      </geometry>
+      <material name = "">
+        <color rgba = "1 0.5 1 1" />
+        <texture filename = "" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_arm_link07_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name = "idx19_left_arm_joint7" type = "fixed">
+    <origin xyz="0 0 0" rpy="1.5707963 0 0" />
+    <parent link = "left_arm_link06" />
+    <child link = "left_arm_link07" />
+    <axis xyz = "0 0 1" />
+    <limit lower="-0.5236" upper="0.5236" effort="0" velocity="0" />
+  </joint>
+
+  <joint name = "left_arm_joint07_fixed" type = "fixed">
+    <origin rpy = "1.5707963 0 -1.5707963" xyz = "0 0 0" />
+    <parent link = "left_arm_link07" />
+    <child link = "left_hand" />
+  </joint>
+  <link name = "left_hand">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_hand.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.4 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_hand_hull.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.4 0 1" />
+      </material>
+    </collision>
+  </link>
+
+
+  <joint name="left_wrist_motor_A_ball" type="fixed">
+    <origin xyz="0.005 0.02245 0.0245" rpy="0 -3.126778944 0" />
+    <parent link="left_arm_link05" />
+    <child link="left_wrist_motor_A" />
+  </joint>
+  <link name="left_wrist_motor_A">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_wrist_motor_A.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_wrist_motor_A_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_wrist_rod_A_joint" type="fixed">
+    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
+    <parent link="left_wrist_motor_A" />
+    <child link="left_wrist_rod_A" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
+  </joint>
+  <link name="left_wrist_rod_A">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_wrist_rod_A.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_wrist_rod_A_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_wrist_motor_B_ball" type="fixed">
+    <origin xyz="0.005 -0.02245 0.0245" rpy="0 -3.126778944 0" />
+    <parent link="left_arm_link05" />
+    <child link="left_wrist_motor_B" />
+  </joint>
+  <link name="left_wrist_motor_B">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_wrist_motor_B.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_wrist_motor_B_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="left_wrist_rod_B_joint" type="fixed">
+    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
+    <parent link="left_wrist_motor_B" />
+    <child link="left_wrist_rod_B" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
+  </joint>
+  <link name="left_wrist_rod_B">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/left_wrist_rod_B.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/left_wrist_rod_B_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- right arm -->
+  <link name="right_arm_link_base"/>
+  <joint name="right_arm_base_joint" type="fixed">
+    <origin rpy="1.5707963  0 0" xyz="-0.03779 0 0.3421"/>
+    <parent link="base_link"/>
+    <child link="right_arm_link_base"/>
+  </joint>
+
+  <link name="right_arm_link01">
+    <inertial>
+      <origin xyz="-0.002330 0.008782 -0.032870" rpy="0 0 0" />
+      <mass value="0.276944" />
+      <inertia ixx="0.000595" iyy="0.000381" izz="0.000542" ixy="-0.000006" ixz="0.000002" iyz="-0.000053"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_arm_link01.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link01_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx20_right_arm_joint1" type="fixed">
+    <origin xyz="-0.0 0.0 0.191 " rpy="0   1.31  -1.5707963" />
+    <parent link="right_arm_link_base" />
+    <child link="right_arm_link01" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.967" upper="2.967" effort="0" velocity="0" />
+  </joint>
+
+  <link name="right_arm_link02">
+    <inertial>
+      <origin xyz="-0.000451 0.051682 -0.001084" rpy="0 0 0" />
+      <mass value="2.852114" />
+      <inertia ixx="0.011984" iyy="0.002880" izz="0.011709" ixy="-0.000039" ixz="0.000003" iyz="-0.000140"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_arm_link02.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link02_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx21_right_arm_joint2" type="fixed">
+    <origin xyz="0 0 0.0" rpy="1.5707963 0 0"/>
+    <parent link="right_arm_link01" />
+    <child link="right_arm_link02" />
+    <axis xyz="0 0 1" />
+    <limit lower="-1.658062761" upper="0.523598767" effort="0" velocity="0" />
+  </joint>
+
+
+
+  <link name="right_arm_link03">
+    <inertial>
+      <origin xyz="-0.000673 0.001065 -0.079222" rpy="0 0 0" />
+      <mass value="1.310295" />
+      <inertia ixx="0.002030" iyy="0.002186" izz="0.001189" ixy="-0.000008" ixz="-0.000005" iyz="-0.000018"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_arm_link03.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link03_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx22_right_arm_joint3" type="fixed">
+    <origin xyz="0 0.154  0" rpy="1.5707963 0 0" />
+    <parent link="right_arm_link02" />
+    <child link="right_arm_link03" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.967" upper="2.967" effort="0" velocity="0" />
+  </joint>
+
+
+  <link name="right_arm_link04">
+    <inertial>
+      <origin xyz="0.000273 0.066853 -0.007408" rpy="0 0 0" />
+      <mass value="0.677343" />
+     <inertia ixx="0.000893" iyy="0.000508" izz="0.000767" ixy="0.000001" ixz="-0.000002" iyz="-0.000238"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_arm_link04.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="0.4 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link04_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx23_right_arm_joint4" type="fixed">
+    <origin xyz="0 0 -0.093" rpy="-1.5707963 0 1.5707963" />
+    <parent link="right_arm_link03" />
+    <child link="right_arm_link04" />
+    <axis xyz="0 0 1" />
+    <limit lower="0" upper="2.094395067" effort="0" velocity="0" />
+  </joint>
+
+
+
+  <link name = "right_arm_link05">
+    <inertial>
+      <origin xyz="-0.001962 -0.000002 -0.071786" rpy="0 0 0" />
+      <mass value="0.260886" />
+      <inertia ixx="0.000638" iyy="0.000618" izz="0.000229" ixy="0.000000" ixz="-0.000015" iyz="-0.000000"/>
+    </inertial>
+    <visual name = "">
+      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename = "../meshes/public/right_arm_link05.stl" />
+      </geometry>
+      <material name = "">
+        <color rgba = "0 0.5 1 1" />
+        <texture filename = "" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link05_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name = "idx24_right_arm_joint5" type = "fixed">
+    <origin xyz = "0  0.103 0.0" rpy = "1.5707963 -1.57 0"  />
+    <parent link = "right_arm_link04" />
+    <child link = "right_arm_link05" />
+    <axis xyz = "0 0 1" />
+    <limit lower = "-2.87979" upper = "2.87979" velocity = "0.0" effort = "0.0"/>
+  </joint>
+
+
+  <link name = "right_arm_link06">
+    <inertial>
+      <origin xyz="-0.00018011 -0.00021701 0.00000000" rpy="0 0 0" />
+      <mass value="0.02504627" />
+      <inertia ixx="0.00000197" iyy="0.00000173" izz="0.00000071" ixy="-0.00000000" ixz="-0.00000000" iyz="0.00000000"/>
+    </inertial>
+    <visual name = "">
+      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename = "../meshes/public/right_arm_link06.stl" />
+      </geometry>
+      <material name = "">
+        <color rgba = "0.8 1.0 0.8 1" />
+        <texture filename = "" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link06_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name = "idx25_right_arm_joint6" type = "fixed">
+    <origin xyz="-0.01 0 -0.1595" rpy="-1.5707963 1.5707963 0" />
+    <parent link = "right_arm_link05" />
+    <child link = "right_arm_link06" />
+    <axis xyz = "0 0 1" />
+    <limit lower = "-0.785398" upper = "0.785398" velocity = "0.0" effort = "0.0"/>
+  </joint>
+
+
+  <link name = "right_arm_link07">
+    <inertial>
+      <origin xyz="0.01211757 -0.00009712 0.00886324" rpy="0 0 0" />
+      <mass value="0.05050219" />
+      <inertia ixx="0.00000828" iyy="0.00001140" izz="0.00001294" ixy="-0.00000006" ixz="0.00000179" iyz="0.00000004"/>
+    </inertial>
+    <visual name = "">
+      <origin rpy = "0.0 0.0 0.0" xyz = "0.0 0.0 0.0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_arm_link07.stl" />
+      </geometry>
+      <material name = "">
+        <color rgba = "1 0.5 1 1" />
+        <texture filename = "" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_arm_link07_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name = "idx26_right_arm_joint7" type = "fixed">
+    <origin xyz="0 0 0" rpy="1.5707963 0 0" />
+    <parent link="right_arm_link06" />
+    <child link="right_arm_link07" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.5236" upper="0.5236" effort="0" velocity="0" />
+  </joint>
+
+  <joint name = "right_arm_joint07_fixed" type = "fixed">
+    <origin rpy = "-1.5707963 0 -1.5707963" xyz = "0 0 0" />
+    <parent link = "right_arm_link07" />
+    <child link = "right_hand" />
+  </joint>
+  <link name = "right_hand">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_hand.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.4 0 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_hand_hull.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.8 0.4 0 1" />
+      </material>
+    </collision>
+  </link>
+
+  <joint name="right_wrist_motor_A_ball" type="fixed">
+    <origin xyz="0.005 0.02245 -0.0245" rpy="0 -0.01481371 0" />
+    <parent link="right_arm_link05" />
+    <child link="right_wrist_motor_A" />
+  </joint>
+  <link name="right_wrist_motor_A">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_wrist_motor_A.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_wrist_motor_A_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_wrist_rod_A_joint" type="fixed">
+    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
+    <parent link="right_wrist_motor_A" />
+    <child link="right_wrist_rod_A" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
+  </joint>
+  <link name="right_wrist_rod_A">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_wrist_rod_A.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_wrist_rod_A_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_wrist_motor_B_ball" type="fixed">
+    <origin xyz="0.005 -0.02245 -0.0245" rpy="0 -0.01481371 0" />
+    <parent link="right_arm_link05" />
+    <child link="right_wrist_motor_B" />
+  </joint>
+  <link name="right_wrist_motor_B">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_wrist_motor_B.stl"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_wrist_motor_B_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="right_wrist_rod_B_joint" type="fixed">
+    <origin xyz="0 0 -0.135015" rpy="0 3.1415926535 0" />
+    <parent link="right_wrist_motor_B" />
+    <child link="right_wrist_rod_B" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.01199" upper="0.01204" effort="0" velocity="0" />
+  </joint>
+  <link name="right_wrist_rod_B">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/right_wrist_rod_B.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/right_wrist_rod_B_hull.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="head_link01">
+    <inertial>
+      <origin xyz="-0.00154008 0.00649494 0.11627791" rpy="0 0 0" />
+      <mass value="1.39889495" />
+      <inertia ixx="0.00378192" iyy="0.00393150" izz="0.00152438" ixy="-0.00000282" ixz="0.00029671" iyz="-0.00021616"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/head_link01.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 0.4 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/head_link01_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx27_head_joint1" type="fixed">
+    <origin xyz="-0.03779 0 0.4101" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="head_link01" />
+    <axis xyz="0 0 1" />
+    <limit lower="-2.2" upper="2.2" effort="0" velocity="0" />
+  </joint>
+
+  <link name="head_link02">
+    <inertial>
+      <origin xyz="0.03256533 0.02834041 0.00009476" rpy="0 0 0" />
+      <mass value="0.65606942" />
+      <inertia ixx="0.00350189" iyy="0.00369636" izz="0.00360950" ixy="0.00039729" ixz="-0.00000150" iyz="0.00000231"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/public/head_link02.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 0.4 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="../meshes/convex/head_link02_hull.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx28_head_joint2" type="fixed">
+    <origin xyz="-0.00501 0 0.16059" rpy="1.5707963 0 0" />
+    <parent link="head_link01" />
+    <child link="head_link02" />
+    <axis xyz="0 0 1" />
+    <limit lower="-0.5" upper="0.5" effort="0" velocity="0" />
+  </joint>
+
+</robot>