robot_description/h1/h1.urdf

<robot name="h1">
  <mujoco>
    <compiler meshdir="meshes" discardvisual="false"/>
  </mujoco>

  <!-- [CAUTION] uncomment when convert to mujoco -->
  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="pelvis"/>
  </joint> -->

  <link name="pelvis">
    <inertial>
      <origin xyz="-0.0002 4E-05 -0.04522" rpy="0 0 0"/>
      <mass value="5.39"/>
      <inertia ixx="0.044582" ixy="8.7034E-05" ixz="-1.9893E-05" iyy="0.0082464" iyz="4.021E-06" izz="0.049021"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="left_hip_yaw_link">
    <inertial>
      <origin xyz="-0.04923 0.0001 0.0072" rpy="0 0 0"/>
      <mass value="2.244"/>
      <inertia ixx="0.0025731" ixy="9.159E-06" ixz="-0.00051948" iyy="0.0030444" iyz="1.949E-06" izz="0.0022883"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <!-- [CAUTION] use cylinder for hip_yaw_link -->
    <collision>
      <origin xyz="-0.067 0 0" rpy="0 1.57075 0"/>
      <geometry>
        <cylinder length="0.07" radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_yaw_joint" type="revolute">
    <origin xyz="0 0.0875 -0.1742" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="left_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
  </joint>
  <link name="left_hip_roll_link">
    <inertial>
      <origin xyz="-0.0058 -0.00319 -9E-05" rpy="0 0 0"/>
      <mass value="2.232"/>
      <inertia ixx="0.0020603" ixy="3.2115E-05" ixz="2.878E-06" iyy="0.0022482" iyz="-7.813E-06" izz="0.0024323"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_roll_joint" type="revolute">
    <origin xyz="0.039468 0 0" rpy="0 0 0"/>
    <parent link="left_hip_yaw_link"/>
    <child link="left_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
  </joint>
  <link name="left_hip_pitch_link">
    <inertial>
      <origin xyz="0.00746 -0.02346 -0.08193" rpy="0 0 0"/>
      <mass value="4.152"/>
      <inertia ixx="0.082618" ixy="-0.00066654" ixz="0.0040725" iyy="0.081579" iyz="0.0072024" izz="0.0060081"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_pitch_joint" type="revolute">
    <origin xyz="0 0.11536 0" rpy="0 0 0"/>
    <parent link="left_hip_roll_link"/>
    <child link="left_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14" upper="2.53" effort="200" velocity="23"/>
  </joint>
  <link name="left_knee_link">
    <inertial>
      <origin xyz="-0.00136 -0.00512 -0.1384" rpy="0 0 0"/>
      <mass value="1.721"/>
      <inertia ixx="0.012205" ixy="-6.8431E-05" ixz="0.0010862" iyy="0.012509" iyz="0.00022549" izz="0.0020629"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_knee_joint" type="revolute">
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <parent link="left_hip_pitch_link"/>
    <child link="left_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.26" upper="2.05" effort="300" velocity="14"/>
  </joint>
  <link name="left_ankle_link">
    <inertial>
      <origin xyz="0.042575 -0.000001 -0.044672" rpy="0 0 0"/>
      <mass value="0.474"/>
      <inertia ixx="0.000159668" ixy="-0.000000005" ixz="0.000141063" iyy="0.002900286" iyz="0.000000014" izz="0.002805438"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_joint" type="revolute">
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <parent link="left_knee_link"/>
    <child link="left_ankle_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87" upper="0.52" effort="40" velocity="9"/>
  </joint>
  <link name="right_hip_yaw_link">
    <inertial>
      <origin xyz="-0.04923 -0.0001 0.0072" rpy="0 0 0"/>
      <mass value="2.244"/>
      <inertia ixx="0.0025731" ixy="-9.159E-06" ixz="-0.00051948" iyy="0.0030444" iyz="-1.949E-06" izz="0.0022883"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <!-- [CAUTION] use cylinder for hip_yaw_link -->
    <collision>
      <origin xyz="-0.067 0 0" rpy="0 1.57075 0"/>
      <geometry>
        <cylinder length="0.07" radius="0.06"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_yaw_joint" type="revolute">
    <origin xyz="0 -0.0875 -0.1742" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="right_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
  </joint>
  <link name="right_hip_roll_link">
    <inertial>
      <origin xyz="-0.0058 0.00319 -9E-05" rpy="0 0 0"/>
      <mass value="2.232"/>
      <inertia ixx="0.0020603" ixy="-3.2115E-05" ixz="2.878E-06" iyy="0.0022482" iyz="7.813E-06" izz="0.0024323"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_roll_joint" type="revolute">
    <origin xyz="0.039468 0 0" rpy="0 0 0"/>
    <parent link="right_hip_yaw_link"/>
    <child link="right_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.43" upper="0.43" effort="200" velocity="23"/>
  </joint>
  <link name="right_hip_pitch_link">
    <inertial>
      <origin xyz="0.00746 0.02346 -0.08193" rpy="0 0 0"/>
      <mass value="4.152"/>
      <inertia ixx="0.082618" ixy="0.00066654" ixz="0.0040725" iyy="0.081579" iyz="-0.0072024" izz="0.0060081"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_pitch_joint" type="revolute">
    <origin xyz="0 -0.11536 0" rpy="0 0 0"/>
    <parent link="right_hip_roll_link"/>
    <child link="right_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14" upper="2.53" effort="200" velocity="23"/>
  </joint>
  <link name="right_knee_link">
    <inertial>
      <origin xyz="-0.00136 0.00512 -0.1384" rpy="0 0 0"/>
      <mass value="1.721"/>
      <inertia ixx="0.012205" ixy="6.8431E-05" ixz="0.0010862" iyy="0.012509" iyz="-0.00022549" izz="0.0020629"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_knee_joint" type="revolute">
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <parent link="right_hip_pitch_link"/>
    <child link="right_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.26" upper="2.05" effort="300" velocity="14"/>
  </joint>
  <link name="right_ankle_link">
    <inertial>
      <origin xyz="0.042575 0.000001 -0.044672" rpy="0 0 0"/>
      <mass value="0.474"/>
      <inertia ixx="0.000159668" ixy="0.000000005" ixz="0.000141063" iyy="0.002900286" iyz="-0.000000014" izz="0.002805438"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_joint" type="revolute">
    <origin xyz="0 0 -0.4" rpy="0 0 0"/>
    <parent link="right_knee_link"/>
    <child link="right_ankle_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87" upper="0.52" effort="40" velocity="9"/>
  </joint>
  <link name="torso_link">
    <inertial>
      <origin xyz="0.000489 0.002797 0.20484" rpy="0 0 0"/>
      <mass value="17.789"/>
      <inertia ixx="0.4873" ixy="-0.00053763" ixz="0.0020276" iyy="0.40963" iyz="-0.00074582" izz="0.12785"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/torso_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/torso_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="torso_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="pelvis"/>
    <child link="torso_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.35" upper="2.35" effort="200" velocity="23"/>
  </joint>
  <link name="left_shoulder_pitch_link">
    <inertial>
      <origin xyz="0.005045 0.053657 -0.015715" rpy="0 0 0"/>
      <mass value="1.033"/>
      <inertia ixx="0.0012985" ixy="-1.7333E-05" ixz="8.683E-06" iyy="0.00087279" iyz="3.9656E-05" izz="0.00097338"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0055 0.15535 0.42999" rpy="0.43633 0 0"/>
    <parent link="torso_link"/>
    <child link="left_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.87" upper="2.87" effort="40" velocity="9"/>
  </joint>
  <link name="left_shoulder_roll_link">
    <inertial>
      <origin xyz="0.000679 0.00115 -0.094076" rpy="0 0 0"/>
      <mass value="0.793"/>
      <inertia ixx="0.0015742" ixy="2.298E-06" ixz="-7.2265E-05" iyy="0.0016973" iyz="-6.3691E-05" izz="0.0010183"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_roll_joint" type="revolute">
    <origin xyz="-0.0055 0.0565 -0.0165" rpy="-0.43633 0 0"/>
    <parent link="left_shoulder_pitch_link"/>
    <child link="left_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.34" upper="3.11" effort="40" velocity="9"/>
  </joint>
  <link name="left_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.01365 0.002767 -0.16266" rpy="0 0 0"/>
      <mass value="0.839"/>
      <inertia ixx="0.003664" ixy="-1.0671E-05" ixz="0.00034733" iyy="0.0040789" iyz="7.0213E-05" izz="0.00066383"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_yaw_joint" type="revolute">
    <origin xyz="0 0 -0.1343" rpy="0 0 0"/>
    <parent link="left_shoulder_roll_link"/>
    <child link="left_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.3" upper="4.45" effort="18" velocity="20"/>
  </joint>
  <link name="left_elbow_link">
    <inertial>
      <origin xyz="0.164862 0.000118 -0.015734" rpy="0 0 0"/>
      <mass value="0.723"/>
      <inertia ixx="0.00042388" ixy="-3.6086E-05" ixz="0.00029293" iyy="0.0060062" iyz="4.664E-06" izz="0.0060023"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_elbow_joint" type="revolute">
    <origin xyz="0.0185 0 -0.198" rpy="0 0 0"/>
    <parent link="left_shoulder_yaw_link"/>
    <child link="left_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.25" upper="2.61" effort="18" velocity="20"/>
  </joint>
  <link name="right_shoulder_pitch_link">
    <inertial>
      <origin xyz="0.005045 -0.053657 -0.015715" rpy="0 0 0"/>
      <mass value="1.033"/>
      <inertia ixx="0.0012985" ixy="1.7333E-05" ixz="8.683E-06" iyy="0.00087279" iyz="-3.9656E-05" izz="0.00097338"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_pitch_joint" type="revolute">
    <origin xyz="0.0055 -0.15535 0.42999" rpy="-0.43633 0 0"/>
    <parent link="torso_link"/>
    <child link="right_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.87" upper="2.87" effort="40" velocity="9"/>
  </joint>
  <link name="right_shoulder_roll_link">
    <inertial>
      <origin xyz="0.000679 -0.00115 -0.094076" rpy="0 0 0"/>
      <mass value="0.793"/>
      <inertia ixx="0.0015742" ixy="-2.298E-06" ixz="-7.2265E-05" iyy="0.0016973" iyz="6.3691E-05" izz="0.0010183"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_roll_joint" type="revolute">
    <origin xyz="-0.0055 -0.0565 -0.0165" rpy="0.43633 0 0"/>
    <parent link="right_shoulder_pitch_link"/>
    <child link="right_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-3.11" upper="0.34" effort="40" velocity="9"/>
  </joint>
  <link name="right_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.01365 -0.002767 -0.16266" rpy="0 0 0"/>
      <mass value="0.839"/>
      <inertia ixx="0.003664" ixy="1.0671E-05" ixz="0.00034733" iyy="0.0040789" iyz="-7.0213E-05" izz="0.00066383"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_yaw_joint" type="revolute">
    <origin xyz="0 0 -0.1343" rpy="0 0 0"/>
    <parent link="right_shoulder_roll_link"/>
    <child link="right_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-4.45" upper="1.3" effort="18" velocity="20"/>
  </joint>
  <link name="right_elbow_link">
    <inertial>
      <origin xyz="0.164862 -0.000118 -0.015734" rpy="0 0 0"/>
      <mass value="0.723"/>
      <inertia ixx="0.00042388" ixy="3.6086E-05" ixz="0.00029293" iyy="0.0060062" iyz="-4.664E-06" izz="0.0060023"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
      <material name="dark">
        <color rgba="0.1 0.1 0.1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_elbow_joint" type="revolute">
    <origin xyz="0.0185 0 -0.198" rpy="0 0 0"/>
    <parent link="right_shoulder_yaw_link"/>
    <child link="right_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.25" upper="2.61" effort="18" velocity="20"/>
  </joint>
  <link name="imu_link"></link>
  <joint name="imu_joint" type="fixed">
    <origin xyz="-0.04452 -0.01891 0.27756" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="imu_link"/>
  </joint>
  <link name="logo_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/logo_link.STL"/>
      </geometry>
      <material name="white">
        <color rgba="1 1 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="logo_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="torso_link"/>
    <child link="logo_link"/>
    <axis xyz="0 0 0"/>
  </joint>
</robot>