diff --git a/README.md b/README.md
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----
-license: apache-2.0
----
+you data output is here
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+      <inertia ixx="1.75E-09" ixy="-2.32E-10" ixz="-3.17E-10" iyy="1.22E-09" iyz="-8.87E-10" izz="7.96E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.44E-10" ixy="1.26E-10" ixz="1.57E-10" iyy="6.00E-10" iyz="-4.89E-10" izz="4.54E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.11E-08" ixy="-3.99E-09" ixz="-1.17E-08" iyy="4.07E-08" iyz="-1.35E-08" izz="1.14E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.84E-08" ixy="3.76E-09" ixz="1.15E-08" iyy="3.85E-08" iyz="-1.23E-08" izz="1.04E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.12E-09" ixy="-4.90E-09" ixz="-5.74E-09" iyy="1.62E-08" iyz="-3.18E-09" izz="1.55E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.29E-10" ixy="1.95E-11" ixz="-1.81E-10" iyy="3.64E-10" iyz="2.37E-11" izz="1.45E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.33E-10" ixy="-4.47E-11" ixz="-5.40E-11" iyy="3.81E-10" iyz="-3.25E-10" izz="2.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.65E-09" ixy="1.60E-10" ixz="-2.52E-10" iyy="1.21E-09" iyz="7.63E-10" izz="5.98E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.06E-09" ixy="4.00E-10" ixz="1.17E-09" iyy="2.53E-09" iyz="-6.95E-10" izz="1.07E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.98E-10" ixy="-1.36E-10" ixz="-2.06E-10" iyy="5.08E-10" iyz="-2.91E-10" izz="2.98E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.45E-09" ixy="-7.04E-11" ixz="-1.63E-10" iyy="1.24E-09" iyz="-5.52E-10" izz="2.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.77E-10" ixy="6.21E-11" ixz="2.76E-10" iyy="7.54E-10" iyz="-1.57E-10" izz="1.60E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.89E-10" ixy="6.60E-11" ixz="-9.38E-11" iyy="4.72E-10" iyz="3.33E-10" izz="2.70E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.69E-10" ixy="-7.69E-11" ixz="-2.56E-10" iyy="5.21E-10" iyz="-1.11E-10" izz="2.26E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.46E-10" ixy="7.98E-11" ixz="-1.74E-10" iyy="3.85E-10" iyz="1.35E-10" izz="1.73E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.24E-10" ixy="4.55E-11" ixz="1.07E-10" iyy="6.24E-10" iyz="-2.77E-10" izz="1.45E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.61E-10" ixy="-5.66E-11" ixz="9.56E-11" iyy="2.35E-10" iyz="1.17E-10" izz="1.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.60E-10" ixy="-3.45E-11" ixz="4.83E-11" iyy="2.42E-10" iyz="1.75E-10" izz="1.41E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.43E-08" ixy="-8.47E-10" ixz="9.07E-09" iyy="2.06E-08" iyz="1.03E-09" izz="6.82E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.91E-09" ixy="-1.75E-10" ixz="-7.44E-10" iyy="2.09E-09" iyz="-4.61E-10" izz="4.45E-10"/>
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+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.11E-09" ixy="6.80E-10" ixz="2.05E-10" iyy="5.10E-10" iyz="-1.12E-09" izz="3.93E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.62E-09" ixy="9.12E-10" ixz="7.51E-11" iyy="5.81E-10" iyz="-1.13E-10" izz="2.14E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.97E-10" ixy="1.71E-10" ixz="-9.73E-11" iyy="2.54E-10" iyz="8.28E-11" izz="3.58E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.96E-09" ixy="-6.07E-10" ixz="-3.14E-11" iyy="2.09E-10" iyz="-1.37E-10" izz="3.09E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.30E-10" ixy="3.58E-10" ixz="3.92E-10" iyy="1.12E-09" iyz="-1.44E-10" izz="1.12E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.75E-09" ixy="-1.29E-09" ixz="-4.12E-10" iyy="9.60E-10" iyz="-8.04E-10" izz="3.18E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.54E-10" ixy="-9.01E-10" ixz="-1.23E-10" iyy="3.40E-09" iyz="-5.13E-11" izz="3.66E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.14E-10" ixy="-1.80E-10" ixz="-9.56E-11" iyy="2.50E-10" iyz="-8.94E-11" izz="3.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.48E-10" ixy="6.03E-10" ixz="2.40E-10" iyy="2.35E-09" iyz="-6.61E-11" izz="2.51E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.61E-09" ixy="-1.87E-09" ixz="3.42E-10" iyy="2.52E-09" iyz="2.67E-10" izz="3.93E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.77E-10" ixy="5.28E-10" ixz="-1.41E-10" iyy="2.78E-09" iyz="2.63E-11" izz="2.88E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.31E-09" ixy="-4.53E-10" ixz="-5.99E-12" iyy="1.38E-10" iyz="-5.60E-11" izz="2.41E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.74E-10" ixy="1.77E-10" ixz="8.20E-11" iyy="1.93E-10" iyz="-1.03E-10" izz="3.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.80E-11" ixy="8.55E-11" ixz="-1.41E-10" iyy="4.35E-10" iyz="3.12E-11" izz="4.09E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.23E-10" ixy="4.86E-10" ixz="-7.82E-10" iyy="2.43E-09" iyz="1.77E-10" izz="2.29E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.07E-09" ixy="6.63E-10" ixz="-3.19E-11" iyy="2.46E-10" iyz="1.13E-10" izz="3.23E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.38E-09" ixy="-8.77E-10" ixz="1.18E-11" iyy="6.02E-10" iyz="9.41E-13" izz="1.96E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.64E-10" ixy="7.55E-10" ixz="-5.93E-10" iyy="3.19E-09" iyz="1.42E-10" izz="3.29E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.97E-09" ixy="1.38E-09" ixz="7.22E-11" iyy="1.08E-09" iyz="-9.58E-11" izz="2.98E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.39E-09" ixy="8.00E-10" ixz="-3.09E-10" iyy="7.14E-10" iyz="1.12E-09" izz="3.26E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.84E-10" ixy="6.33E-10" ixz="1.16E-09" iyy="4.38E-09" iyz="-1.91E-10" izz="4.16E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.63E-09" ixy="1.01E-09" ixz="-2.39E-10" iyy="5.94E-10" iyz="7.96E-10" izz="3.83E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.07E-09" ixy="-1.84E-09" ixz="1.03E-09" iyy="2.78E-09" iyz="8.46E-10" izz="3.92E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.66E-11" ixy="-1.05E-10" ixz="-1.39E-10" iyy="4.30E-10" iyz="-4.09E-11" izz="4.14E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.33E-09" ixy="1.30E-09" ixz="-4.17E-10" iyy="1.64E-09" iyz="3.68E-10" izz="2.73E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.36E-10" ixy="-3.50E-10" ixz="-6.96E-10" iyy="2.18E-09" iyz="-1.31E-10" izz="2.02E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.72E-10" ixy="1.07E-09" ixz="5.46E-11" iyy="1.27E-09" iyz="-4.96E-11" izz="2.20E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.22E-09" ixy="3.98E-10" ixz="2.83E-11" iyy="1.26E-10" iyz="-1.34E-10" izz="2.29E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.71E-09" ixy="-1.17E-09" ixz="-1.10E-10" iyy="9.08E-10" iyz="-1.37E-10" izz="2.55E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
+  </joint>
+  <link name="link_convex_piece_40">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.23E-09" ixy="2.71E-09" ixz="1.12E-09" iyy="2.84E-09" iyz="-1.45E-09" izz="5.90E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
+  </joint>
+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.79E-10" ixy="-3.87E-10" ixz="1.72E-10" iyy="4.73E-10" iyz="1.65E-10" izz="8.02E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
+  </joint>
+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.67E-10" ixy="-2.50E-10" ixz="8.15E-11" iyy="1.83E-10" iyz="2.71E-10" izz="9.73E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
+  </joint>
+  <link name="link_convex_piece_43">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.37E-10" ixy="-4.54E-10" ixz="-5.04E-10" iyy="2.41E-09" iyz="-1.05E-10" izz="2.41E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
+  </joint>
+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.16E-09" ixy="-4.88E-10" ixz="-1.49E-10" iyy="3.84E-10" iyz="-8.92E-10" izz="2.99E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
+  </joint>
+  <link name="link_convex_piece_45">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.26E-10" ixy="8.79E-11" ixz="3.29E-11" iyy="7.64E-11" iyz="-1.38E-10" izz="4.05E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
+  </joint>
+  <link name="link_convex_piece_46">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.29E-09" ixy="-5.61E-10" ixz="2.28E-10" iyy="4.73E-10" iyz="4.45E-10" izz="1.40E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
+  </joint>
+  <link name="link_convex_piece_47">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.09E-10" ixy="-3.88E-10" ixz="3.99E-10" iyy="1.76E-09" iyz="9.06E-11" izz="1.78E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_47_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
+  </joint>
+  <link name="link_convex_piece_48">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.69E-09" ixy="-2.46E-10" ixz="9.22E-11" iyy="2.57E-10" iyz="5.50E-10" izz="1.55E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_48_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
+  </joint>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.58E-09" ixy="-9.57E-10" ixz="-1.32E-09" iyy="2.62E-09" iyz="-7.99E-10" izz="2.37E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.40E-09" ixy="-7.68E-10" ixz="-5.23E-10" iyy="1.33E-09" iyz="-1.67E-09" izz="2.77E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.55E-09" ixy="6.81E-10" ixz="5.02E-10" iyy="9.02E-10" iyz="-7.66E-10" izz="1.54E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.22E-09" ixy="-5.33E-10" ixz="8.23E-10" iyy="1.56E-09" iyz="5.90E-10" izz="1.16E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.06E-09" ixy="-5.15E-10" ixz="4.03E-10" iyy="7.22E-10" iyz="5.40E-10" izz="1.10E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.72E-10" ixy="3.20E-10" ixz="1.00E-09" iyy="2.15E-09" iyz="-1.90E-10" izz="1.75E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.85E-10" ixy="-2.38E-10" ixz="1.02E-09" iyy="1.95E-09" iyz="2.16E-10" izz="1.19E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.81E-09" ixy="6.28E-10" ixz="-4.35E-10" iyy="1.12E-09" iyz="1.39E-09" izz="2.25E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.37E-09" ixy="6.06E-10" ixz="8.96E-10" iyy="1.70E-09" iyz="-6.72E-10" izz="1.30E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.78E-09" ixy="-6.57E-10" ixz="-1.99E-09" iyy="3.99E-09" iyz="-8.74E-10" izz="2.15E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.00E-09" ixy="-3.62E-10" ixz="2.59E-10" iyy="6.42E-10" iyz="9.59E-10" izz="1.58E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.46E-09" ixy="-1.59E-10" ixz="1.63E-10" iyy="7.06E-10" iyz="7.59E-10" izz="8.34E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.23E-09" ixy="9.16E-10" ixz="9.66E-10" iyy="1.91E-09" iyz="-6.55E-10" izz="2.02E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.34E-09" ixy="3.98E-10" ixz="4.25E-10" iyy="9.07E-10" iyz="-7.00E-10" izz="9.25E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.12E-09" ixy="9.51E-11" ixz="1.26E-09" iyy="2.86E-09" iyz="-1.80E-10" izz="8.53E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.43E-10" ixy="-3.06E-10" ixz="9.41E-10" iyy="2.02E-09" iyz="1.85E-10" izz="1.64E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.43E-09" ixy="2.42E-10" ixz="-1.85E-09" iyy="3.75E-09" iyz="1.97E-10" izz="2.48E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.05E-09" ixy="2.39E-10" ixz="7.17E-11" iyy="5.27E-11" iyz="-2.55E-10" izz="1.16E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.82E-09" ixy="2.73E-10" ixz="1.89E-10" iyy="5.19E-10" iyz="-8.52E-10" izz="1.43E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.79E-09" ixy="4.80E-10" ixz="-5.22E-10" iyy="1.67E-09" iyz="1.45E-09" izz="1.62E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.25E-10" ixy="1.27E-10" ixz="-1.19E-09" iyy="3.77E-09" iyz="4.44E-11" izz="3.49E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.47E-10" ixy="-7.05E-10" ixz="7.78E-10" iyy="1.53E-09" iyz="5.08E-10" izz="1.57E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.47E-11" ixy="-1.79E-10" ixz="-1.18E-10" iyy="4.38E-10" iyz="-5.00E-11" izz="5.32E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.05E-09" ixy="3.71E-10" ixz="-6.80E-10" iyy="1.35E-09" iyz="4.67E-10" izz="8.32E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.75E-11" ixy="-2.97E-10" ixz="3.17E-10" iyy="1.38E-09" iyz="6.50E-11" izz="1.52E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.52E-09" ixy="1.62E-10" ixz="1.60E-10" iyy="7.08E-10" iyz="-7.88E-10" izz="8.89E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.53E-10" ixy="2.58E-10" ixz="1.10E-09" iyy="2.11E-09" iyz="-2.31E-10" izz="1.30E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
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+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
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+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
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+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.55E-11" ixy="6.25E-11" ixz="4.12E-10" iyy="1.59E-09" iyz="-1.60E-11" izz="1.55E-09"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
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+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.82E-10" ixy="-2.02E-10" ixz="6.33E-11" iyy="4.42E-11" iyz="2.24E-10" izz="9.73E-10"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.79E-10" ixy="-2.95E-10" ixz="8.54E-11" iyy="2.05E-10" iyz="1.04E-10" izz="6.21E-10"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
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+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
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+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.11E-10" ixy="5.90E-10" ixz="1.98E-10" iyy="5.71E-10" iyz="-1.90E-10" izz="1.23E-09"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.06E-10" ixy="-2.93E-10" ixz="1.10E-10" iyy="3.83E-10" iyz="7.67E-11" izz="6.21E-10"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      </geometry>
+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
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+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
+  </joint>
+  <link name="link_convex_piece_45">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
+  </joint>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_47_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
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+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_48_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_49_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_50_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
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+    <inertial>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
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+      <geometry>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_52"/>
+    <child link="link_convex_piece_53"/>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
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+      <geometry>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_57"/>
+    <child link="link_convex_piece_58"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_58"/>
+    <child link="link_convex_piece_59"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_60"/>
+    <child link="link_convex_piece_61"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+<robot name="root">
+  <link name="link_convex_piece_0">
+    <inertial>
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+      <material name="">
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+    <parent link="link_convex_piece_0"/>
+    <child link="link_convex_piece_1"/>
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+      <geometry>
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+      <material name="">
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+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
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+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
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+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
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+  <link name="link_convex_piece_9">
+    <inertial>
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+      <geometry>
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+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
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+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.95E-10" ixy="1.07E-10" ixz="-6.65E-11" iyy="2.23E-10" iyz="2.82E-10" izz="4.13E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.06E-10" ixy="1.62E-10" ixz="-1.67E-10" iyy="4.02E-10" iyz="3.02E-10" izz="3.73E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.70E-10" ixy="-8.34E-11" ixz="7.36E-11" iyy="1.66E-10" iyz="2.23E-10" izz="3.11E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.87E-10" ixy="-1.84E-10" ixz="1.82E-10" iyy="3.07E-10" iyz="1.90E-10" izz="3.48E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.03E-10" ixy="-1.78E-10" ixz="-1.49E-10" iyy="3.08E-10" iyz="-1.56E-10" izz="3.37E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.21E-10" ixy="7.41E-12" ixz="-1.78E-10" iyy="3.95E-10" iyz="4.69E-12" izz="2.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.43E-10" ixy="-1.68E-11" ixz="1.01E-10" iyy="9.77E-10" iyz="3.99E-12" izz="9.04E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.62E-10" ixy="1.32E-10" ixz="-1.39E-11" iyy="1.10E-10" iyz="3.02E-11" izz="2.63E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.23E-10" ixy="1.23E-10" ixz="7.43E-11" iyy="2.87E-10" iyz="-2.50E-11" izz="2.99E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-09" ixy="2.15E-10" ixz="2.18E-10" iyy="4.88E-10" iyz="-5.50E-10" izz="7.93E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.15E-10" ixy="1.98E-11" ixz="5.22E-11" iyy="1.80E-10" iyz="-8.65E-11" izz="4.62E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.41E-10" ixy="6.55E-11" ixz="-4.54E-12" iyy="1.68E-11" iyz="5.53E-11" izz="2.39E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.21E-10" ixy="6.34E-11" ixz="-1.13E-10" iyy="2.35E-10" iyz="5.18E-11" izz="1.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.35E-10" ixy="2.42E-11" ixz="-5.06E-11" iyy="2.79E-10" iyz="1.23E-10" izz="6.28E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.17E-09" ixy="1.72E-10" ixz="-6.31E-11" iyy="2.78E-10" iyz="4.63E-10" izz="9.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.68E-10" ixy="-3.18E-11" ixz="-9.24E-11" iyy="4.28E-10" iyz="-9.86E-11" izz="4.91E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.73E-11" ixy="-2.39E-11" ixz="1.37E-11" iyy="3.41E-11" iyz="6.56E-12" izz="4.81E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.22E-10" ixy="-1.37E-10" ixz="3.24E-10" iyy="5.89E-10" iyz="7.73E-11" izz="4.56E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.08E-10" ixy="4.05E-11" ixz="1.40E-10" iyy="2.59E-10" iyz="-3.50E-11" izz="1.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.13E-10" ixy="1.57E-10" ixz="1.55E-10" iyy="2.74E-10" iyz="-2.09E-10" izz="3.31E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.90E-11" ixy="-1.49E-10" ixz="-1.97E-11" iyy="2.40E-10" iyz="-2.35E-11" izz="3.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.88E-10" ixy="-8.44E-11" ixz="2.16E-10" iyy="4.08E-10" iyz="9.77E-11" izz="2.00E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.68E-10" ixy="-3.27E-11" ixz="8.53E-11" iyy="1.82E-10" iyz="5.65E-11" izz="5.97E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
+  </joint>
+  <link name="link_convex_piece_40">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.58E-10" ixy="2.63E-11" ixz="1.44E-10" iyy="1.89E-10" iyz="-5.24E-11" izz="9.06E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
+  </joint>
+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.46E-11" ixy="-1.92E-11" ixz="8.22E-12" iyy="1.38E-11" iyz="7.37E-12" izz="3.57E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
+  </joint>
+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.59E-10" ixy="-1.41E-10" ixz="-1.02E-11" iyy="1.12E-10" iyz="-2.74E-11" izz="2.62E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
+  </joint>
+  <link name="link_convex_piece_43">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.71E-10" ixy="2.04E-11" ixz="8.53E-11" iyy="1.13E-10" iyz="-8.17E-11" izz="3.15E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
+  </joint>
+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.90E-10" ixy="9.70E-11" ixz="1.10E-10" iyy="1.92E-10" iyz="-9.75E-11" izz="1.89E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
+  </joint>
+  <link name="link_convex_piece_45">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.64E-11" ixy="2.05E-11" ixz="2.01E-11" iyy="3.63E-11" iyz="-1.42E-11" izz="4.15E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
+  </joint>
+  <link name="link_convex_piece_46">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.15E-10" ixy="6.49E-11" ixz="2.64E-11" iyy="4.18E-11" iyz="-3.48E-11" izz="1.42E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
+  </joint>
+  <link name="link_convex_piece_47">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.68E-10" ixy="-2.42E-11" ixz="2.68E-11" iyy="8.34E-11" iyz="8.45E-11" izz="8.99E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_47_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
+  </joint>
+  <link name="link_convex_piece_48">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.21E-10" ixy="6.28E-11" ixz="-6.84E-11" iyy="2.04E-10" iyz="1.60E-10" izz="1.65E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_48_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
+  </joint>
+  <link name="link_convex_piece_49">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.68E-10" ixy="-1.20E-11" ixz="8.65E-11" iyy="2.69E-10" iyz="2.45E-11" izz="1.21E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_49_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
+  </joint>
+  <link name="link_convex_piece_50">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.80E-10" ixy="-5.31E-11" ixz="8.49E-11" iyy="2.68E-10" iyz="1.77E-10" izz="1.39E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_50_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
+  </joint>
+  <link name="link_convex_piece_51">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.50E-11" ixy="-1.94E-11" ixz="2.92E-11" iyy="5.11E-11" iyz="1.65E-11" izz="3.92E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_51_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
+  </joint>
+  <link name="link_convex_piece_52">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.24E-10" ixy="5.60E-12" ixz="-3.30E-12" iyy="1.17E-10" iyz="1.12E-10" izz="9.58E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_52_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
+  </joint>
+  <link name="link_convex_piece_53">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.55E-10" ixy="1.64E-11" ixz="-1.17E-11" iyy="1.12E-10" iyz="1.28E-10" izz="1.37E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_53_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_52"/>
+    <child link="link_convex_piece_53"/>
+  </joint>
+  <link name="link_convex_piece_54">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.25E-10" ixy="-4.04E-11" ixz="5.68E-11" iyy="1.09E-10" iyz="6.01E-11" izz="7.58E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_54.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_54.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_54_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
+  </joint>
+  <link name="link_convex_piece_55">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.14E-10" ixy="4.33E-11" ixz="2.22E-10" iyy="4.06E-10" iyz="-4.83E-11" izz="2.20E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_55.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_55.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_55_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
+  </joint>
+  <link name="link_convex_piece_56">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_56.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_56.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_56_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
+  </joint>
+  <link name="link_convex_piece_57">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.55E-10" ixy="2.68E-11" ixz="-2.16E-11" iyy="1.70E-10" iyz="1.78E-10" izz="1.76E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_57.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_57.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_57_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
+  </joint>
+  <link name="link_convex_piece_58">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_58.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_58.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_58_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_57"/>
+    <child link="link_convex_piece_58"/>
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+  <link name="link_convex_piece_59">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.71E-10" ixy="1.52E-11" ixz="4.88E-10" iyy="8.05E-10" iyz="-5.16E-11" izz="5.06E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_59.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_59.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_59_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_58"/>
+    <child link="link_convex_piece_59"/>
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+  <link name="link_convex_piece_60">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.00E-10" ixy="2.92E-10" ixz="-5.01E-10" iyy="1.03E-09" iyz="3.39E-10" izz="6.74E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_60.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_60.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_60_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
+  </joint>
+  <link name="link_convex_piece_61">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_61.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_61.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_61_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_60"/>
+    <child link="link_convex_piece_61"/>
+  </joint>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_62.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_62.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_62_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_61"/>
+    <child link="link_convex_piece_62"/>
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+  <link name="link_convex_piece_63">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <geometry>
+        <mesh filename="convex_piece_63.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_63_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_62"/>
+    <child link="link_convex_piece_63"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.51E-11" ixy="-1.38E-11" ixz="1.34E-11" iyy="2.45E-11" iyz="7.68E-12" izz="2.70E-11"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_64.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_64_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_63"/>
+    <child link="link_convex_piece_64"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_65_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_64"/>
+    <child link="link_convex_piece_65"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_66.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_65"/>
+    <child link="link_convex_piece_66"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_66"/>
+    <child link="link_convex_piece_67"/>
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+      <geometry>
+        <mesh filename="convex_piece_68.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_68.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_68_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_67"/>
+    <child link="link_convex_piece_68"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_69.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_69_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_68"/>
+    <child link="link_convex_piece_69"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_70.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_70_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_69"/>
+    <child link="link_convex_piece_70"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_71.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_70"/>
+    <child link="link_convex_piece_71"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_72.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
+  <joint name="link_convex_piece_72_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_71"/>
+    <child link="link_convex_piece_72"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_73.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_72"/>
+    <child link="link_convex_piece_73"/>
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+    <parent link="link_convex_piece_74"/>
+    <child link="link_convex_piece_75"/>
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+    <child link="link_convex_piece_76"/>
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+    <child link="link_convex_piece_78"/>
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+    <parent link="link_convex_piece_149"/>
+    <child link="link_convex_piece_150"/>
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+      </geometry>
+      <material name="">
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_150"/>
+    <child link="link_convex_piece_151"/>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_151"/>
+    <child link="link_convex_piece_152"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <child link="link_convex_piece_153"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.08E-10" ixy="3.72E-12" ixz="1.52E-10" iyy="3.20E-10" iyz="-5.10E-12" izz="2.16E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.24E-10" ixy="-7.78E-11" ixz="-6.95E-11" iyy="1.44E-10" iyz="-6.43E-11" izz="1.59E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.23E-10" ixy="-3.84E-11" ixz="3.34E-11" iyy="1.02E-10" iyz="1.07E-10" izz="1.46E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.92E-10" ixy="8.24E-11" ixz="5.97E-11" iyy="1.16E-10" iyz="-9.21E-11" izz="1.84E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.73E-10" ixy="-9.88E-12" ixz="5.56E-12" iyy="4.32E-11" iyz="7.26E-11" izz="2.32E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.03E-10" ixy="-3.25E-11" ixz="1.24E-10" iyy="3.49E-10" iyz="7.45E-11" izz="9.14E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.41E-10" ixy="2.48E-11" ixz="3.02E-12" iyy="4.97E-12" iyz="-6.53E-12" izz="1.52E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.21E-10" ixy="5.61E-11" ixz="3.67E-11" iyy="1.00E-10" iyz="-1.45E-10" izz="2.53E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.31E-10" ixy="-5.58E-11" ixz="-5.52E-11" iyy="1.41E-10" iyz="-1.19E-10" izz="1.45E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.08E-10" ixy="-2.14E-11" ixz="-1.79E-11" iyy="1.39E-10" iyz="-1.57E-10" izz="1.77E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.77E-11" ixy="1.78E-11" ixz="-1.06E-10" iyy="2.28E-10" iyz="1.11E-11" izz="1.58E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.35E-10" ixy="4.61E-11" ixz="-1.35E-10" iyy="2.95E-10" iyz="7.33E-11" izz="1.21E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.06E-10" ixy="-3.25E-11" ixz="-1.68E-11" iyy="8.30E-11" iyz="-1.37E-10" izz="2.36E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.51E-10" ixy="-3.67E-11" ixz="-1.39E-10" iyy="2.75E-10" iyz="-3.93E-11" izz="1.46E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-10" ixy="2.40E-11" ixz="5.05E-11" iyy="1.25E-10" iyz="-5.54E-11" izz="5.37E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.28E-10" ixy="-5.15E-11" ixz="8.19E-11" iyy="2.00E-10" iyz="1.04E-10" izz="1.09E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.84E-10" ixy="-1.92E-11" ixz="3.38E-11" iyy="2.11E-10" iyz="1.28E-10" izz="8.82E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.79E-10" ixy="-2.15E-11" ixz="-1.27E-10" iyy="2.65E-10" iyz="-3.20E-11" izz="1.02E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.86E-10" ixy="-7.81E-11" ixz="7.93E-11" iyy="1.58E-10" iyz="9.00E-11" izz="1.61E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.77E-10" ixy="1.53E-11" ixz="-1.88E-11" iyy="1.73E-10" iyz="1.36E-10" izz="1.11E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.48E-10" ixy="1.37E-11" ixz="-1.37E-10" iyy="2.73E-10" iyz="1.44E-11" izz="1.31E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.08E-10" ixy="5.85E-11" ixz="-8.21E-11" iyy="1.69E-10" iyz="4.94E-11" izz="1.36E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.69E-11" ixy="-5.68E-11" ixz="-1.09E-10" iyy="2.35E-10" iyz="-4.16E-11" izz="1.85E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.01E-11" ixy="6.91E-11" ixz="5.26E-12" iyy="6.06E-11" iyz="-5.84E-12" izz="1.46E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.39E-10" ixy="-1.07E-10" ixz="3.28E-11" iyy="9.30E-11" iyz="8.04E-11" izz="3.32E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.83E-10" ixy="-9.25E-11" ixz="1.73E-10" iyy="3.53E-10" iyz="7.13E-11" izz="2.61E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.59E-10" ixy="-4.07E-11" ixz="-7.20E-11" iyy="2.25E-10" iyz="-1.16E-10" izz="9.88E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.20E-10" ixy="-8.36E-11" ixz="-5.51E-11" iyy="1.16E-10" iyz="-1.05E-10" izz="1.99E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.94E-10" ixy="-8.56E-11" ixz="-1.95E-12" iyy="4.27E-11" iyz="-1.57E-11" izz="2.40E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.39E-10" ixy="1.12E-10" ixz="-2.56E-11" iyy="9.63E-11" iyz="1.01E-10" izz="4.23E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.50E-10" ixy="3.07E-11" ixz="-4.68E-11" iyy="1.88E-10" iyz="1.16E-10" izz="9.21E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.20E-10" ixy="2.13E-12" ixz="1.14E-10" iyy="2.23E-10" iyz="-3.39E-12" izz="1.04E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.87E-10" ixy="3.34E-11" ixz="3.27E-11" iyy="1.38E-10" iyz="-1.47E-10" izz="1.66E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.12E-10" ixy="-4.58E-11" ixz="-6.17E-11" iyy="2.24E-10" iyz="-1.52E-10" izz="1.32E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.18E-11" ixy="-6.92E-11" ixz="5.97E-11" iyy="2.43E-10" iyz="1.37E-11" izz="2.33E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
+  </joint>
+  <link name="link_convex_piece_40">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.55E-10" ixy="-9.03E-12" ixz="-4.90E-11" iyy="1.67E-10" iyz="-2.77E-11" izz="2.68E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
+  </joint>
+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.31E-10" ixy="-2.13E-11" ixz="5.46E-11" iyy="1.37E-10" iyz="4.53E-11" izz="4.48E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
+  </joint>
+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.50E-11" ixy="-8.44E-11" ixz="-3.62E-13" iyy="1.30E-10" iyz="-4.02E-12" izz="1.91E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
+  </joint>
+  <link name="link_convex_piece_43">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.54E-10" ixy="8.77E-12" ixz="1.57E-11" iyy="1.12E-10" iyz="-7.20E-11" izz="4.84E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
+  </joint>
+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.29E-11" ixy="-4.03E-12" ixz="2.52E-11" iyy="5.62E-11" iyz="6.53E-12" izz="1.55E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
+  </joint>
+  <link name="link_convex_piece_45">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.80E-11" ixy="3.83E-11" ixz="8.55E-12" iyy="8.59E-11" iyz="-4.84E-12" izz="1.04E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
+  </joint>
+  <link name="link_convex_piece_46">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.44E-12" ixy="3.48E-11" ixz="-2.19E-12" iyy="1.36E-10" iyz="-5.24E-13" izz="1.48E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
+  </joint>
+  <link name="link_convex_piece_47">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.29E-12" ixy="7.86E-12" ixz="9.69E-12" iyy="1.14E-10" iyz="-2.26E-12" izz="1.16E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_47_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
+  </joint>
+  <link name="link_convex_piece_48">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.46E-10" ixy="6.50E-11" ixz="-8.96E-11" iyy="2.65E-10" iyz="1.66E-10" izz="1.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_48_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
+  </joint>
+  <link name="link_convex_piece_49">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.85E-11" ixy="1.77E-11" ixz="-5.18E-11" iyy="1.05E-10" iyz="2.10E-11" izz="5.07E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_49_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
+  </joint>
+  <link name="link_convex_piece_50">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.29E-12" ixy="-1.87E-11" ixz="2.88E-14" iyy="1.59E-10" iyz="-1.96E-12" izz="1.66E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_50_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
+  </joint>
+  <link name="link_convex_piece_51">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.06E-10" ixy="-4.62E-11" ixz="7.65E-11" iyy="3.06E-10" iyz="1.87E-10" izz="1.62E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_51_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
+  </joint>
+  <link name="link_convex_piece_52">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.76E-11" ixy="1.02E-10" ixz="-1.96E-12" iyy="1.38E-10" iyz="8.43E-13" izz="2.20E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_52_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
+  </joint>
+  <link name="link_convex_piece_53">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.77E-10" ixy="1.81E-11" ixz="-5.70E-11" iyy="1.82E-10" iyz="5.04E-11" izz="4.36E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_53_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_52"/>
+    <child link="link_convex_piece_53"/>
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+  <link name="link_convex_piece_54">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.18E-11" ixy="4.35E-11" ixz="-8.22E-13" iyy="2.94E-11" iyz="1.76E-12" izz="9.36E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_54.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_54.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_54_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
+  </joint>
+  <link name="link_convex_piece_55">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.11E-10" ixy="2.87E-11" ixz="9.66E-11" iyy="1.89E-10" iyz="-3.25E-11" izz="9.81E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_55.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_55.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_55_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
+  </joint>
+  <link name="link_convex_piece_56">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.54E-10" ixy="-3.59E-11" ixz="-2.14E-10" iyy="4.32E-10" iyz="-4.50E-11" izz="2.03E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_56.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_56.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_56_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
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+  <link name="link_convex_piece_57">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.85E-11" ixy="1.05E-11" ixz="2.25E-11" iyy="6.38E-11" iyz="-2.80E-11" izz="2.20E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_57.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_57.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_57_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
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+  <link name="link_convex_piece_58">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.74E-11" ixy="1.98E-11" ixz="-2.36E-11" iyy="5.79E-11" iyz="3.86E-11" izz="5.00E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_58.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_58.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_58_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_57"/>
+    <child link="link_convex_piece_58"/>
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+  <link name="link_convex_piece_59">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.77E-11" ixy="2.50E-11" ixz="-5.30E-11" iyy="1.11E-10" iyz="3.41E-11" izz="5.56E-11"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_59.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_59.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_59_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_58"/>
+    <child link="link_convex_piece_59"/>
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+  <link name="link_convex_piece_60">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.72E-10" ixy="-6.56E-11" ixz="1.89E-10" iyy="3.81E-10" iyz="8.62E-11" izz="1.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_60.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_60.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_60_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
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+  <link name="link_convex_piece_61">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_61.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_61.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_61_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_60"/>
+    <child link="link_convex_piece_61"/>
+  </joint>
+  <link name="link_convex_piece_62">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_61"/>
+    <child link="link_convex_piece_62"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_62"/>
+    <child link="link_convex_piece_63"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_63"/>
+    <child link="link_convex_piece_64"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_64"/>
+    <child link="link_convex_piece_65"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_65"/>
+    <child link="link_convex_piece_66"/>
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+    <child link="link_convex_piece_67"/>
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+    <child link="link_convex_piece_68"/>
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+    <child link="link_convex_piece_82"/>
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+    <child link="link_convex_piece_83"/>
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+    <child link="link_convex_piece_85"/>
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+      <inertia ixx="5.63E-11" ixy="1.15E-13" ixz="4.97E-14" iyy="3.83E-12" iyz="-6.10E-12" izz="5.61E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-1.48E-12" ixy="-5.43E-14" ixz="4.94E-14" iyy="2.95E-12" iyz="-6.27E-13" izz="-1.23E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.22E-12" ixy="-1.53E-14" ixz="3.76E-14" iyy="2.01E-12" iyz="1.15E-13" izz="1.21E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-1.86E-13" ixy="-2.04E-13" ixz="-2.63E-15" iyy="2.49E-12" iyz="-1.40E-12" izz="-3.03E-13"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.46E-11" ixy="-1.53E-11" ixz="-3.34E-12" iyy="8.26E-12" iyz="-1.39E-11" izz="5.60E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.83E-11" ixy="-1.48E-11" ixz="5.28E-12" iyy="1.30E-11" iyz="1.98E-11" izz="5.46E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.17E-12" ixy="-6.68E-13" ixz="4.74E-15" iyy="2.45E-12" iyz="-1.52E-12" izz="4.26E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.36E-11" ixy="-1.06E-12" ixz="5.85E-14" iyy="7.38E-13" iyz="9.18E-13" izz="3.41E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.52E-14" ixy="7.97E-15" ixz="3.35E-14" iyy="5.38E-13" iyz="-5.70E-13" izz="-2.36E-14"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.95E-11" ixy="-5.57E-13" ixz="-6.08E-14" iyy="1.30E-12" iyz="-5.39E-12" izz="2.91E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.32E-11" ixy="-4.53E-13" ixz="-2.48E-14" iyy="1.89E-12" iyz="-2.44E-12" izz="1.31E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.94E-13" ixy="-1.40E-13" ixz="3.53E-14" iyy="2.23E-12" iyz="4.42E-13" izz="3.66E-13"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.76E-12" ixy="-6.35E-14" ixz="4.68E-14" iyy="2.89E-12" iyz="-2.50E-12" izz="8.68E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.40E-12" ixy="1.63E-14" ixz="6.37E-14" iyy="2.22E-12" iyz="-1.14E-12" izz="1.44E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.15E-11" ixy="-1.07E-11" ixz="4.67E-12" iyy="1.16E-11" iyz="1.26E-11" izz="2.94E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.00E-11" ixy="4.25E-13" ixz="5.57E-14" iyy="2.16E-12" iyz="-2.46E-12" izz="1.99E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.53E-11" ixy="1.89E-11" ixz="5.73E-12" iyy="1.53E-11" iyz="-2.80E-11" izz="8.21E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.58E-12" ixy="-7.40E-13" ixz="1.19E-13" iyy="2.57E-13" iyz="3.79E-13" izz="2.71E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.88E-12" ixy="-3.19E-12" ixz="5.13E-13" iyy="1.99E-12" iyz="7.25E-13" izz="6.64E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.16E-11" ixy="-4.69E-13" ixz="-1.31E-13" iyy="1.23E-12" iyz="-3.80E-12" izz="1.04E-11"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.57E-09" ixy="-4.95E-11" ixz="1.31E-11" iyy="1.93E-10" iyz="3.96E-10" izz="1.45E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.06E-09" ixy="-4.20E-10" ixz="-7.72E-11" iyy="2.57E-10" iyz="-1.91E-10" izz="1.19E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.15E-09" ixy="4.40E-10" ixz="8.32E-11" iyy="2.70E-10" iyz="-2.16E-10" izz="1.27E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.68E-10" ixy="5.59E-11" ixz="2.42E-11" iyy="1.57E-10" iyz="-2.86E-10" izz="6.59E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.30E-10" ixy="-4.23E-11" ixz="2.02E-11" iyy="6.98E-11" iyz="1.23E-10" izz="2.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.00E-11" ixy="-3.36E-11" ixz="-5.53E-12" iyy="1.94E-11" iyz="-1.16E-11" izz="8.53E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.15E-10" ixy="2.77E-12" ixz="1.00E-12" iyy="1.98E-11" iyz="-4.02E-11" izz="9.98E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.35E-10" ixy="4.76E-11" ixz="6.79E-12" iyy="2.05E-11" iyz="-1.98E-11" izz="1.49E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.59E-10" ixy="1.35E-12" ixz="-9.30E-14" iyy="1.41E-11" iyz="4.29E-11" izz="2.56E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.36E-11" ixy="1.60E-11" ixz="6.26E-13" iyy="3.75E-12" iyz="-3.35E-12" izz="8.65E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.50E-10" ixy="-5.14E-11" ixz="-2.11E-11" iyy="4.65E-11" iyz="-5.43E-11" izz="1.47E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.05E-10" ixy="-1.81E-10" ixz="1.82E-11" iyy="9.71E-11" iyz="4.14E-11" izz="4.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.13E-11" ixy="2.91E-11" ixz="9.56E-12" iyy="1.96E-11" iyz="-2.66E-11" izz="9.33E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.13E-10" ixy="1.77E-10" ixz="-2.67E-11" iyy="9.59E-11" iyz="5.88E-11" izz="4.88E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.11E-10" ixy="2.45E-11" ixz="-6.73E-12" iyy="1.47E-11" iyz="2.90E-11" izz="1.08E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.57E-09" ixy="2.62E-10" ixz="-1.05E-10" iyy="3.64E-10" iyz="5.58E-10" izz="1.40E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.64E-10" ixy="-8.27E-11" ixz="2.05E-11" iyy="5.07E-11" iyz="6.08E-11" izz="2.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.97E-10" ixy="5.77E-11" ixz="2.18E-11" iyy="6.53E-11" iyz="-1.28E-10" izz="3.53E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.43E-10" ixy="1.06E-10" ixz="-2.81E-11" iyy="7.12E-11" iyz="8.35E-11" izz="3.46E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
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diff --git a/assets/graspnet/models/030/coacd_0.05/convex_piece_0.obj b/assets/graspnet/models/030/coacd_0.05/convex_piece_0.obj
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--- /dev/null
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+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.51E-09" ixy="1.70E-09" ixz="-1.78E-10" iyy="1.86E-09" iyz="1.21E-10" izz="3.32E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.16E-09" ixy="1.73E-10" ixz="5.35E-11" iyy="1.28E-10" iyz="-5.50E-10" izz="2.09E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.50E-09" ixy="-2.18E-09" ixz="8.60E-10" iyy="2.45E-09" iyz="7.67E-10" izz="4.22E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.52E-09" ixy="-3.67E-10" ixz="-6.81E-11" iyy="1.80E-10" iyz="-6.43E-10" izz="2.46E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.39E-09" ixy="8.00E-09" ixz="-8.53E-10" iyy="1.08E-08" iyz="4.78E-10" izz="1.65E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-7.54E-11" ixy="-2.48E-11" ixz="4.48E-13" iyy="6.10E-11" iyz="-8.34E-11" izz="-5.83E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.65E-11" ixy="-8.71E-11" ixz="9.18E-11" iyy="1.95E-10" iyz="4.49E-11" izz="1.45E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-1.37E-11" ixy="-4.30E-12" ixz="-1.56E-11" iyy="3.52E-11" iyz="-9.32E-12" izz="2.73E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.55E-09" ixy="1.42E-09" ixz="-1.42E-10" iyy="1.29E-09" iyz="1.13E-10" izz="2.80E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-5.34E-11" ixy="-2.08E-11" ixz="3.73E-11" iyy="2.75E-10" iyz="-2.01E-11" izz="2.26E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.08E-10" ixy="-1.92E-10" ixz="4.89E-10" iyy="1.20E-09" iyz="1.94E-11" izz="7.59E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-1.62E-10" ixy="-1.21E-10" ixz="-2.54E-10" iyy="1.23E-09" iyz="-1.19E-10" izz="9.38E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.04E-09" ixy="-5.94E-10" ixz="3.29E-10" iyy="6.57E-10" iyz="4.31E-10" izz="1.19E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="-2.34E-11" ixy="1.80E-11" ixz="5.15E-12" iyy="5.96E-11" iyz="-1.78E-11" izz="1.31E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.92E-09" ixy="1.45E-09" ixz="3.36E-10" iyy="1.21E-09" iyz="-5.12E-10" izz="2.96E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.29E-11" ixy="-5.68E-11" ixz="-2.61E-11" iyy="9.94E-11" iyz="-2.61E-11" izz="9.55E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.05E-10" ixy="-6.46E-10" ixz="-1.82E-10" iyy="5.19E-10" iyz="-3.11E-10" izz="1.29E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.13E-11" ixy="6.26E-11" ixz="2.02E-10" iyy="4.86E-10" iyz="-7.38E-11" izz="2.92E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.12E-11" ixy="6.75E-11" ixz="-3.51E-10" iyy="9.45E-10" iyz="-1.17E-11" izz="6.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+    <parent link="link_convex_piece_20"/>
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diff --git a/assets/graspnet/models/032/coacd_0.05/convex_piece_0.obj b/assets/graspnet/models/032/coacd_0.05/convex_piece_0.obj
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.38E-09" ixy="-2.83E-10" ixz="-3.54E-09" iyy="7.21E-09" iyz="-1.02E-09" izz="1.03E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.15E-09" ixy="4.38E-09" ixz="-6.89E-11" iyy="5.18E-09" iyz="-7.58E-10" izz="8.28E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.31E-09" ixy="-8.23E-10" ixz="-3.57E-09" iyy="7.55E-09" iyz="-2.22E-09" izz="1.51E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.48E-11" ixy="1.26E-09" ixz="-1.74E-09" iyy="1.79E-08" iyz="-1.53E-10" izz="1.82E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.66E-09" ixy="4.88E-09" ixz="-2.47E-09" iyy="1.72E-08" iyz="-3.83E-10" izz="1.92E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.36E-09" ixy="8.43E-10" ixz="4.16E-10" iyy="8.47E-10" iyz="-6.23E-10" izz="1.54E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.18E-09" ixy="-8.04E-10" ixz="-6.93E-10" iyy="7.29E-12" iyz="-7.33E-10" izz="1.68E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.72E-09" ixy="-5.88E-09" ixz="3.74E-09" iyy="1.96E-08" iyz="1.18E-09" izz="2.08E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.15E-09" ixy="5.58E-09" ixz="9.23E-09" iyy="4.01E-08" iyz="-1.73E-09" izz="3.96E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.82E-09" ixy="9.52E-10" ixz="9.18E-10" iyy="1.81E-09" iyz="-9.40E-10" izz="1.73E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.58E-10" ixy="1.82E-09" ixz="-2.31E-10" iyy="3.08E-09" iyz="-2.68E-10" izz="3.64E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.48E-08" ixy="1.86E-08" ixz="2.12E-08" iyy="4.72E-08" iyz="-2.68E-08" izz="3.07E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.11E-10" ixy="-2.42E-09" ixz="-1.51E-10" iyy="2.51E-08" iyz="-1.64E-10" izz="2.60E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.40E-09" ixy="-5.99E-10" ixz="-3.59E-09" iyy="-2.18E-09" iyz="-2.42E-09" izz="2.88E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.14E-08" ixy="-1.02E-08" ixz="4.73E-09" iyy="9.52E-09" iyz="8.75E-09" izz="2.19E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.36E-09" ixy="-1.37E-10" ixz="-5.60E-10" iyy="-7.34E-10" iyz="-6.53E-10" izz="5.21E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.55E-10" ixy="6.34E-10" ixz="-1.63E-11" iyy="6.30E-10" iyz="-7.94E-11" izz="1.05E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.80E-08" ixy="4.42E-10" ixz="-3.40E-09" iyy="1.60E-08" iyz="-2.69E-10" izz="-1.69E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.96E-10" ixy="-1.43E-09" ixz="5.57E-10" iyy="1.26E-08" iyz="-1.03E-10" izz="1.33E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.35E-09" ixy="5.49E-10" ixz="4.27E-09" iyy="8.80E-09" iyz="-4.07E-10" izz="2.34E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.40E-09" ixy="-4.81E-09" ixz="-2.78E-09" iyy="2.88E-09" iyz="-3.49E-09" izz="1.03E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.78E-09" ixy="-4.71E-09" ixz="4.34E-09" iyy="9.61E-09" iyz="2.83E-09" izz="9.99E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
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+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
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+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
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+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.42E-08" ixy="5.04E-09" ixz="4.50E-09" iyy="9.73E-09" iyz="-7.29E-09" izz="9.31E-09"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
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+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
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+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.63E-09" ixy="3.91E-09" ixz="1.38E-09" iyy="6.02E-09" iyz="-1.11E-09" izz="7.95E-09"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+      <material name="">
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
+  </joint>
+  <link name="link_convex_piece_46">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
+  </joint>
+  <link name="link_convex_piece_47">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.22E-11" ixy="6.81E-11" ixz="2.49E-11" iyy="8.78E-11" iyz="-3.38E-11" izz="3.97E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_47_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
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+  <link name="link_convex_piece_48">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_48.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_48_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
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+  <link name="link_convex_piece_49">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_49_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
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+  <link name="link_convex_piece_50">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_50.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_50_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
+  </joint>
+  <link name="link_convex_piece_51">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_51.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_51_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
+  </joint>
+  <link name="link_convex_piece_52">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_52_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
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+  <link name="link_convex_piece_53">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_53_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_52"/>
+    <child link="link_convex_piece_53"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
+  <joint name="link_convex_piece_56_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
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+    <inertial>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_58.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_57"/>
+    <child link="link_convex_piece_58"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_59.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_58"/>
+    <child link="link_convex_piece_59"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_60"/>
+    <child link="link_convex_piece_61"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_61"/>
+    <child link="link_convex_piece_62"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_63_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_62"/>
+    <child link="link_convex_piece_63"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
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+  <joint name="link_convex_piece_1_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_0"/>
+    <child link="link_convex_piece_1"/>
+  </joint>
+  <link name="link_convex_piece_2">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.40E-10" ixy="1.09E-09" ixz="-9.74E-10" iyy="3.53E-09" iyz="3.44E-10" izz="3.84E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_2_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
+  </joint>
+  <link name="link_convex_piece_3">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.68E-09" ixy="1.99E-09" ixz="-4.82E-10" iyy="1.41E-09" iyz="8.71E-10" izz="4.68E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.66E-09" ixy="7.59E-10" ixz="-1.46E-10" iyy="3.67E-10" iyz="9.74E-10" izz="4.63E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.77E-09" ixy="-5.42E-09" ixz="8.65E-10" iyy="7.19E-09" iyz="6.58E-10" izz="1.15E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.59E-10" ixy="8.60E-10" ixz="-1.34E-09" iyy="3.67E-09" iyz="3.75E-10" izz="3.53E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.44E-10" ixy="2.58E-10" ixz="-5.86E-10" iyy="1.77E-09" iyz="9.74E-11" izz="1.63E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.08E-09" ixy="3.71E-09" ixz="-1.53E-09" iyy="6.17E-09" iyz="1.05E-09" izz="8.42E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.19E-09" ixy="-1.30E-09" ixz="-1.41E-10" iyy="5.47E-10" iyz="-9.21E-10" izz="7.30E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.28E-09" ixy="-1.36E-09" ixz="-1.75E-09" iyy="4.84E-09" iyz="-5.76E-10" izz="4.83E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.50E-11" ixy="2.90E-10" ixz="1.41E-10" iyy="1.32E-09" iyz="-2.85E-11" izz="1.36E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.47E-09" ixy="3.35E-09" ixz="7.77E-10" iyy="3.01E-09" iyz="-9.22E-10" izz="7.06E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.13E-09" ixy="-2.18E-09" ixz="3.90E-10" iyy="1.38E-09" iyz="6.71E-10" izz="5.24E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.04E-09" ixy="-1.38E-09" ixz="3.58E-10" iyy="1.96E-09" iyz="2.51E-10" izz="3.00E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.51E-10" ixy="-5.15E-10" ixz="4.43E-10" iyy="4.61E-09" iyz="5.18E-11" izz="4.60E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.25E-10" ixy="-1.68E-10" ixz="8.60E-11" iyy="1.61E-10" iyz="1.67E-10" izz="4.69E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.74E-09" ixy="-9.78E-10" ixz="1.77E-10" iyy="3.92E-10" iyz="8.63E-10" izz="5.80E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.28E-09" ixy="9.24E-10" ixz="4.31E-10" iyy="7.75E-10" iyz="-8.21E-10" izz="2.60E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.82E-09" ixy="-3.47E-09" ixz="-2.88E-10" iyy="2.46E-09" iyz="-5.01E-10" izz="7.86E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.41E-11" ixy="-2.40E-10" ixz="-3.95E-11" iyy="6.02E-10" iyz="-1.62E-11" izz="7.10E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.90E-10" ixy="7.58E-10" ixz="4.30E-10" iyy="2.54E-09" iyz="-1.18E-10" izz="2.80E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.62E-10" ixy="-1.11E-09" ixz="-8.34E-10" iyy="3.08E-09" iyz="-3.36E-10" izz="3.49E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.18E-10" ixy="3.41E-10" ixz="4.28E-10" iyy="4.26E-09" iyz="-2.91E-11" izz="4.22E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.43E-10" ixy="-9.50E-10" ixz="-1.41E-09" iyy="4.39E-09" iyz="-3.32E-10" izz="4.25E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.69E-10" ixy="2.98E-10" ixz="-3.94E-10" iyy="8.68E-10" iyz="2.57E-10" izz="7.86E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.93E-10" ixy="-4.15E-10" ixz="-3.92E-10" iyy="8.78E-10" iyz="-3.24E-10" izz="9.98E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.36E-10" ixy="-4.41E-10" ixz="3.41E-10" iyy="2.01E-09" iyz="7.17E-11" izz="2.12E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.91E-09" ixy="1.59E-09" ixz="3.26E-10" iyy="7.21E-10" iyz="-1.21E-09" izz="7.16E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.45E-09" ixy="-8.21E-10" ixz="-2.94E-10" iyy="6.69E-10" iyz="-1.15E-09" izz="3.40E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-09" ixy="-3.40E-10" ixz="-1.13E-10" iyy="2.15E-10" iyz="-4.19E-10" izz="1.31E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.32E-09" ixy="-3.25E-10" ixz="-1.36E-10" iyy="2.93E-10" iyz="-4.92E-10" izz="1.27E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.50E-10" ixy="3.25E-10" ixz="3.67E-10" iyy="7.19E-10" iyz="-2.53E-10" izz="7.98E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.28E-10" ixy="-7.60E-10" ixz="1.15E-09" iyy="3.13E-09" iyz="3.24E-10" izz="3.05E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.74E-10" ixy="-2.92E-11" ixz="-2.42E-10" iyy="5.76E-10" iyz="-4.55E-11" izz="2.15E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.82E-10" ixy="6.67E-10" ixz="2.17E-10" iyy="5.61E-10" iyz="-2.86E-10" izz="1.43E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.89E-09" ixy="-1.11E-09" ixz="-2.53E-10" iyy="5.82E-10" iyz="-8.84E-10" izz="4.21E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.21E-09" ixy="-4.02E-10" ixz="1.71E-10" iyy="2.37E-10" iyz="4.16E-10" izz="1.36E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.52E-10" ixy="-7.74E-10" ixz="-1.74E-10" iyy="2.23E-09" iyz="-6.17E-11" izz="2.53E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.69E-09" ixy="1.40E-09" ixz="-3.97E-10" iyy="1.35E-09" iyz="4.67E-10" izz="2.88E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
+  </joint>
+  <link name="link_convex_piece_40">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
+  </joint>
+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
+  </joint>
+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.30E-09" ixy="-1.09E-09" ixz="6.58E-10" iyy="1.46E-09" iyz="5.95E-10" izz="2.27E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
+  </joint>
+  <link name="link_convex_piece_43">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
+  </joint>
+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
+  </joint>
+  <link name="link_convex_piece_45">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.56E-11" ixy="-2.01E-11" ixz="1.10E-11" iyy="2.44E-11" iyz="1.11E-11" izz="4.03E-11"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
+  </joint>
+  <link name="link_convex_piece_46">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
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+    <inertial>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_47_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_49.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
+  <joint name="link_convex_piece_49_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+    </visual>
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_50_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_52.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_52_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+      <material name="">
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_53.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
+  <joint name="link_convex_piece_53_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_52"/>
+    <child link="link_convex_piece_53"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_54.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_55.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_58.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_57"/>
+    <child link="link_convex_piece_58"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
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+    <child link="link_convex_piece_61"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_61"/>
+    <child link="link_convex_piece_62"/>
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+    <child link="link_convex_piece_63"/>
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+    <parent link="link_convex_piece_63"/>
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+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.20E-09" ixy="1.39E-09" ixz="-3.07E-09" iyy="5.88E-09" iyz="1.27E-09" izz="4.14E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.85E-09" ixy="-1.03E-09" ixz="-7.62E-10" iyy="2.59E-09" iyz="-2.96E-09" izz="3.06E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.01E-09" ixy="-5.53E-10" ixz="-1.10E-09" iyy="2.11E-09" iyz="-5.49E-10" izz="1.72E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.79E-09" ixy="4.14E-09" ixz="2.94E-09" iyy="6.67E-09" iyz="-1.95E-09" izz="9.50E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.65E-09" ixy="-3.98E-09" ixz="1.94E-09" iyy="5.08E-09" iyz="9.52E-10" izz="8.31E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.86E-09" ixy="4.37E-09" ixz="-1.79E-10" iyy="2.84E-09" iyz="4.48E-10" izz="9.28E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.15E-09" ixy="1.48E-09" ixz="1.38E-10" iyy="-2.78E-10" iyz="3.86E-10" izz="7.18E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.24E-09" ixy="-5.25E-09" ixz="2.39E-09" iyy="3.30E-09" iyz="2.51E-09" izz="1.15E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.43E-09" ixy="-1.47E-09" ixz="2.80E-10" iyy="4.85E-10" iyz="2.51E-10" izz="3.49E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.49E-09" ixy="2.09E-09" ixz="8.18E-10" iyy="1.40E-09" iyz="-9.05E-10" izz="4.38E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.84E-09" ixy="-1.99E-09" ixz="-1.47E-11" iyy="5.44E-10" iyz="-4.31E-10" izz="5.13E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.21E-10" ixy="1.65E-09" ixz="-2.09E-10" iyy="3.28E-09" iyz="7.83E-11" izz="4.45E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.02E-09" ixy="2.38E-09" ixz="-3.21E-10" iyy="1.47E-09" iyz="6.01E-10" izz="5.06E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.32E-08" ixy="3.38E-09" ixz="-4.76E-10" iyy="9.27E-10" iyz="3.45E-09" izz="1.43E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.53E-11" ixy="-8.22E-10" ixz="-1.74E-09" iyy="7.02E-09" iyz="-4.10E-10" izz="7.17E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.92E-09" ixy="-4.14E-09" ixz="-1.43E-09" iyy="6.93E-09" iyz="-1.21E-09" izz="9.76E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.20E-10" ixy="1.10E-09" ixz="2.88E-09" iyy="8.63E-09" iyz="-5.82E-10" izz="8.97E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.80E-09" ixy="-5.19E-09" ixz="-1.45E-09" iyy="3.75E-09" iyz="-2.66E-09" izz="1.08E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.09E-09" ixy="1.74E-10" ixz="-8.57E-11" iyy="3.17E-10" iyz="5.51E-10" izz="8.46E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
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diff --git a/assets/graspnet/models/046/coacd_0.05/convex_piece_0.obj b/assets/graspnet/models/046/coacd_0.05/convex_piece_0.obj
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.02E-09" ixy="-1.30E-09" ixz="-6.84E-10" iyy="2.14E-09" iyz="-4.10E-10" izz="2.71E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.16E-10" ixy="1.74E-10" ixz="-6.85E-12" iyy="-9.32E-11" iyz="-7.11E-11" izz="5.10E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.73E-10" ixy="-3.35E-10" ixz="-6.64E-10" iyy="4.95E-10" iyz="-1.24E-10" izz="4.71E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.17E-09" ixy="1.26E-10" ixz="-3.37E-10" iyy="8.07E-09" iyz="4.38E-11" izz="8.57E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.34E-09" ixy="-1.98E-10" ixz="1.90E-10" iyy="3.37E-09" iyz="-6.49E-12" izz="3.72E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.14E-09" ixy="-8.47E-10" ixz="-5.22E-10" iyy="9.76E-10" iyz="-4.91E-10" izz="1.53E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.97E-11" ixy="9.37E-11" ixz="-6.69E-12" iyy="8.52E-10" iyz="7.46E-13" izz="8.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.78E-10" ixy="1.30E-10" ixz="-1.09E-09" iyy="4.53E-09" iyz="4.15E-11" izz="4.48E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.41E-10" ixy="-9.56E-11" ixz="-2.13E-10" iyy="-2.06E-10" iyz="-5.21E-11" izz="-1.91E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.83E-09" ixy="-1.40E-09" ixz="2.60E-10" iyy="9.53E-10" iyz="4.26E-10" izz="2.57E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.76E-11" ixy="-1.30E-10" ixz="5.21E-13" iyy="2.48E-10" iyz="6.86E-12" izz="2.98E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.02E-09" ixy="-6.53E-10" ixz="1.49E-09" iyy="1.27E-08" iyz="1.20E-10" izz="1.33E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.65E-11" ixy="-5.07E-12" ixz="-2.22E-11" iyy="-1.36E-10" iyz="-4.67E-12" izz="-8.10E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.75E-10" ixy="-3.45E-10" ixz="8.18E-11" iyy="2.51E-10" iyz="1.10E-10" izz="5.64E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.04E-10" ixy="2.64E-10" ixz="1.35E-10" iyy="2.23E-09" iyz="-2.14E-11" izz="2.30E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.39E-10" ixy="-1.86E-10" ixz="7.34E-12" iyy="1.71E-10" iyz="1.66E-11" izz="3.10E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.96E-10" ixy="-4.83E-10" ixz="-1.41E-10" iyy="3.88E-10" iyz="-1.47E-10" izz="9.02E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.01E-10" ixy="1.50E-10" ixz="-8.82E-10" iyy="2.68E-09" iyz="5.69E-11" izz="2.46E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.86E-10" ixy="-5.53E-10" ixz="-1.66E-10" iyy="3.17E-10" iyz="-2.18E-10" izz="1.08E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.54E-10" ixy="-1.30E-09" ixz="-7.58E-10" iyy="5.50E-09" iyz="-1.58E-10" izz="5.84E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.98E-09" ixy="1.09E-10" ixz="-4.46E-11" iyy="6.07E-10" iyz="-3.00E-11" izz="8.47E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.93E-10" ixy="-1.91E-10" ixz="-1.20E-10" iyy="2.90E-10" iyz="-8.63E-11" izz="3.66E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.12E-09" ixy="-1.98E-10" ixz="-5.95E-11" iyy="3.88E-10" iyz="-1.29E-09" izz="3.49E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.16E-09" ixy="-2.23E-09" ixz="2.23E-10" iyy="4.47E-09" iyz="1.01E-10" izz="5.45E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.09E-09" ixy="-4.79E-09" ixz="-4.60E-10" iyy="8.13E-09" iyz="-2.13E-10" izz="1.07E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.89E-10" ixy="-4.33E-10" ixz="4.78E-12" iyy="4.39E-10" iyz="2.83E-12" izz="7.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.05E-10" ixy="2.36E-11" ixz="-2.74E-11" iyy="6.22E-11" iyz="1.12E-10" izz="2.39E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.93E-09" ixy="-1.34E-10" ixz="-4.35E-11" iyy="2.64E-10" iyz="-7.38E-10" izz="1.42E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.67E-09" ixy="-5.58E-10" ixz="-2.14E-10" iyy="1.08E-09" iyz="-1.97E-10" izz="1.53E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.39E-11" ixy="-1.87E-11" ixz="-1.41E-12" iyy="-4.43E-12" iyz="-5.08E-12" izz="4.77E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.72E-09" ixy="-2.56E-09" ixz="-2.06E-09" iyy="6.94E-09" iyz="-8.22E-10" izz="7.25E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.09E-10" ixy="-6.94E-10" ixz="-3.60E-10" iyy="9.86E-10" iyz="-2.91E-10" izz="1.39E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.30E-10" ixy="-3.57E-10" ixz="-3.74E-10" iyy="2.79E-09" iyz="-5.92E-11" izz="2.79E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.87E-09" ixy="-2.44E-09" ixz="-1.17E-09" iyy="6.01E-09" iyz="-4.28E-10" izz="6.89E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.10E-09" ixy="2.51E-09" ixz="-9.88E-10" iyy="1.53E-08" iyz="9.00E-11" izz="1.58E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.56E-11" ixy="1.80E-11" ixz="-1.53E-11" iyy="2.74E-11" iyz="1.24E-11" izz="3.26E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.45E-10" ixy="-1.55E-10" ixz="-2.87E-10" iyy="8.79E-10" iyz="-5.19E-11" izz="8.13E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.64E-11" ixy="-2.30E-11" ixz="-1.69E-11" iyy="5.33E-11" iyz="-7.85E-12" izz="5.78E-11"/>
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+    <parent link="link_convex_piece_5"/>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.57E-13" ixy="1.02E-13" ixz="5.55E-14" iyy="1.01E-13" iyz="-1.18E-13" izz="2.12E-13"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.64E-11" ixy="4.18E-11" ixz="1.56E-11" iyy="4.49E-11" iyz="-1.53E-11" izz="7.84E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.06E-11" ixy="2.26E-11" ixz="9.05E-12" iyy="5.09E-11" iyz="-3.93E-12" izz="5.68E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.08E-10" ixy="-5.05E-12" ixz="-4.39E-12" iyy="2.35E-11" iyz="-6.98E-11" izz="1.75E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.03E-10" ixy="-3.98E-11" ixz="6.87E-12" iyy="1.17E-11" iyz="3.29E-11" izz="2.00E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.83E-10" ixy="-8.57E-11" ixz="-7.58E-12" iyy="2.68E-10" iyz="-5.56E-12" izz="3.61E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.48E-11" ixy="-1.96E-11" ixz="7.19E-12" iyy="1.02E-11" iyz="2.58E-11" izz="8.49E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.73E-11" ixy="9.29E-11" ixz="-2.24E-11" iyy="9.93E-11" iyz="2.07E-11" izz="1.76E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.78E-10" ixy="-1.47E-10" ixz="-3.94E-11" iyy="7.05E-10" iyz="-7.06E-12" izz="7.85E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.21E-10" ixy="6.17E-11" ixz="4.70E-11" iyy="1.13E-10" iyz="-1.03E-10" izz="1.45E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.18E-10" ixy="-7.21E-11" ixz="1.91E-10" iyy="1.01E-09" iyz="1.38E-11" izz="1.03E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.70E-10" ixy="-1.37E-10" ixz="-2.31E-10" iyy="1.30E-09" iyz="-2.55E-11" izz="1.34E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.31E-10" ixy="2.78E-11" ixz="4.44E-12" iyy="1.80E-11" iyz="-2.73E-11" izz="7.24E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.57E-10" ixy="3.32E-11" ixz="-1.26E-11" iyy="3.06E-11" iyz="2.72E-11" izz="8.33E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.74E-11" ixy="1.68E-11" ixz="-1.87E-11" iyy="5.22E-11" iyz="3.64E-11" izz="3.16E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.64E-10" ixy="3.10E-11" ixz="-1.69E-11" iyy="5.21E-11" iyz="7.41E-11" izz="1.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.34E-11" ixy="2.55E-11" ixz="-1.36E-11" iyy="2.46E-11" iyz="2.63E-11" izz="5.81E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.11E-10" ixy="8.81E-11" ixz="-2.98E-11" iyy="8.16E-11" iyz="2.35E-11" izz="1.68E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.85E-11" ixy="1.33E-11" ixz="-4.79E-12" iyy="8.95E-12" iyz="9.37E-12" izz="3.04E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.09E-11" ixy="3.44E-13" ixz="-1.13E-12" iyy="2.60E-11" iyz="-3.47E-11" izz="4.26E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.99E-11" ixy="-6.91E-11" ixz="1.17E-11" iyy="8.35E-11" iyz="7.61E-12" izz="1.42E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.87E-10" ixy="-1.11E-10" ixz="-2.20E-11" iyy="5.63E-11" iyz="-7.48E-11" izz="4.02E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.52E-11" ixy="-2.52E-11" ixz="-9.20E-12" iyy="1.87E-11" iyz="-2.24E-11" izz="6.98E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.01E-11" ixy="-2.81E-11" ixz="-1.60E-11" iyy="3.24E-11" iyz="-3.24E-11" izz="6.90E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.65E-11" ixy="-2.77E-12" ixz="-2.08E-12" iyy="1.92E-11" iyz="-3.47E-11" izz="5.81E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.80E-11" ixy="1.75E-11" ixz="1.19E-11" iyy="3.08E-11" iyz="-2.55E-11" izz="3.95E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.88E-11" ixy="-5.95E-11" ixz="-8.82E-12" iyy="7.28E-11" iyz="-8.96E-12" izz="1.23E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.22E-11" ixy="-2.07E-12" ixz="-2.00E-13" iyy="2.05E-13" iyz="-9.75E-13" izz="1.28E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.97E-11" ixy="4.60E-12" ixz="1.09E-12" iyy="8.03E-12" iyz="-2.81E-11" izz="9.26E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.59E-11" ixy="-4.42E-11" ixz="-1.06E-11" iyy="4.87E-11" iyz="-1.14E-11" izz="9.21E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.50E-11" ixy="-3.12E-11" ixz="-3.98E-12" iyy="2.85E-11" iyz="-5.09E-12" izz="6.38E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.20E-11" ixy="-2.35E-13" ixz="-9.64E-13" iyy="1.47E-11" iyz="-2.12E-11" izz="2.74E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.16E-11" ixy="2.81E-11" ixz="6.85E-12" iyy="1.78E-11" iyz="-1.70E-11" izz="7.12E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.78E-11" ixy="1.98E-11" ixz="5.39E-13" iyy="5.18E-12" iyz="-4.21E-12" izz="7.40E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.83E-11" ixy="-9.52E-12" ixz="9.60E-12" iyy="2.67E-11" iyz="5.36E-12" izz="2.03E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.15E-11" ixy="9.53E-12" ixz="2.51E-12" iyy="6.65E-12" iyz="-6.85E-12" izz="2.44E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.34E-11" ixy="-6.74E-11" ixz="-2.06E-11" iyy="7.61E-11" iyz="-2.19E-11" izz="1.41E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.45E-11" ixy="6.15E-11" ixz="-1.20E-11" iyy="6.29E-11" iyz="1.08E-11" izz="1.24E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.31E-11" ixy="-2.67E-12" ixz="-4.72E-13" iyy="6.82E-13" iyz="-2.17E-12" izz="1.37E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
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+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.42E-11" ixy="1.52E-11" ixz="-7.11E-12" iyy="1.52E-11" iyz="8.08E-12" izz="3.09E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.23E-11" ixy="7.42E-13" ixz="-6.06E-15" iyy="-5.53E-15" iyz="-1.36E-12" izz="1.25E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
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+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.09E-12" ixy="-1.42E-12" ixz="-2.45E-13" iyy="6.81E-13" iyz="-5.58E-13" izz="3.73E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.74E-11" ixy="5.30E-12" ixz="2.58E-12" iyy="8.28E-12" iyz="-1.30E-11" izz="2.16E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
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+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
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+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
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+    <inertial>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_1_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_0"/>
+    <child link="link_convex_piece_1"/>
+  </joint>
+  <link name="link_convex_piece_2">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.78E-09" ixy="3.03E-09" ixz="2.29E-10" iyy="1.09E-09" iyz="-7.13E-10" izz="8.73E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_2_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
+  </joint>
+  <link name="link_convex_piece_3">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.32E-09" ixy="-2.87E-09" ixz="-5.14E-10" iyy="2.18E-09" iyz="-7.08E-10" izz="6.25E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.24E-09" ixy="-7.95E-10" ixz="-1.26E-10" iyy="1.85E-09" iyz="-1.14E-10" izz="2.42E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.11E-09" ixy="-1.98E-09" ixz="-2.46E-10" iyy="1.39E-09" iyz="-3.53E-10" izz="4.38E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.25E-09" ixy="4.18E-10" ixz="-2.77E-10" iyy="6.83E-10" iyz="3.43E-11" izz="7.87E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.44E-09" ixy="-3.20E-09" ixz="-1.67E-10" iyy="2.36E-09" iyz="-2.30E-10" izz="6.77E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.93E-09" ixy="-2.22E-09" ixz="-3.75E-11" iyy="2.61E-09" iyz="-2.95E-11" izz="4.53E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.34E-09" ixy="-1.75E-09" ixz="-2.53E-10" iyy="8.11E-10" iyz="-5.58E-10" izz="4.99E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.99E-09" ixy="-4.56E-11" ixz="1.26E-11" iyy="1.07E-10" iyz="4.93E-10" izz="1.82E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.54E-09" ixy="5.22E-11" ixz="-1.17E-11" iyy="9.02E-11" iyz="7.21E-10" izz="4.39E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.06E-10" ixy="-9.35E-12" ixz="8.58E-12" iyy="8.31E-11" iyz="2.43E-10" izz="5.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.64E-09" ixy="-1.77E-09" ixz="-1.23E-09" iyy="3.84E-09" iyz="-7.27E-10" izz="4.59E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.51E-10" ixy="1.43E-10" ixz="1.80E-12" iyy="3.98E-12" iyz="-6.29E-11" izz="5.34E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.80E-10" ixy="-3.72E-10" ixz="-7.26E-11" iyy="5.22E-10" iyz="-5.35E-11" izz="7.84E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.58E-09" ixy="-1.10E-09" ixz="-3.61E-10" iyy="9.95E-10" iyz="-4.57E-10" izz="2.29E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.74E-11" ixy="-1.56E-11" ixz="-2.74E-12" iyy="5.94E-13" iyz="-4.94E-12" izz="7.59E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.54E-10" ixy="-1.41E-09" ixz="2.32E-10" iyy="3.20E-09" iyz="1.04E-10" izz="3.92E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.19E-10" ixy="-2.94E-10" ixz="-6.62E-11" iyy="8.27E-10" iyz="-2.66E-11" izz="9.20E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.91E-11" ixy="-1.11E-10" ixz="-3.67E-11" iyy="2.76E-10" iyz="-1.61E-11" izz="3.16E-10"/>
+    </inertial>
+    <visual>
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+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_1_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_0"/>
+    <child link="link_convex_piece_1"/>
+  </joint>
+  <link name="link_convex_piece_2">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.31E-10" ixy="4.05E-13" ixz="-1.28E-11" iyy="2.30E-10" iyz="6.91E-11" izz="1.87E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_2_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
+  </joint>
+  <link name="link_convex_piece_3">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.34E-10" ixy="1.36E-12" ixz="-3.61E-11" iyy="1.18E-10" iyz="5.92E-11" izz="1.98E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.42E-09" ixy="-9.14E-11" ixz="-8.39E-10" iyy="2.58E-09" iyz="6.32E-11" izz="6.40E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.14E-09" ixy="6.07E-10" ixz="7.91E-10" iyy="1.86E-09" iyz="-1.00E-09" izz="1.30E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.49E-09" ixy="-5.77E-10" ixz="-8.58E-10" iyy="2.17E-09" iyz="-1.12E-09" izz="1.19E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.66E-11" ixy="-1.39E-11" ixz="-3.21E-11" iyy="9.31E-11" iyz="-3.42E-11" izz="2.64E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.76E-10" ixy="-4.94E-11" ixz="-8.96E-11" iyy="2.17E-10" iyz="1.89E-11" izz="1.60E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.42E-10" ixy="-1.00E-10" ixz="-1.22E-10" iyy="3.22E-10" iyz="-2.15E-10" izz="2.32E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.38E-09" ixy="1.50E-10" ixz="8.77E-11" iyy="4.16E-10" iyz="-6.10E-10" izz="1.03E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.30E-10" ixy="-6.40E-11" ixz="2.90E-11" iyy="7.80E-11" iyz="1.36E-10" izz="2.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.61E-10" ixy="-1.09E-10" ixz="6.30E-11" iyy="1.62E-10" iyz="2.16E-10" izz="3.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.85E-10" ixy="-9.32E-11" ixz="1.90E-10" iyy="6.60E-10" iyz="2.59E-10" izz="2.02E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.19E-09" ixy="1.22E-10" ixz="5.15E-10" iyy="1.43E-09" iyz="-2.34E-10" izz="3.94E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.46E-10" ixy="1.31E-10" ixz="1.35E-10" iyy="3.14E-10" iyz="-2.21E-10" izz="2.97E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.40E-11" ixy="1.29E-11" ixz="5.11E-11" iyy="1.24E-10" iyz="-1.19E-12" izz="1.05E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.14E-10" ixy="-4.11E-12" ixz="-4.33E-13" iyy="2.10E-10" iyz="2.58E-10" izz="3.04E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.97E-10" ixy="4.37E-11" ixz="3.81E-11" iyy="1.03E-10" iyz="-9.70E-11" izz="1.29E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.99E-11" ixy="2.40E-11" ixz="5.18E-11" iyy="1.12E-10" iyz="-3.41E-11" izz="5.40E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.89E-12" ixy="3.33E-12" ixz="6.87E-12" iyy="1.40E-10" iyz="1.43E-11" izz="1.72E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.45E-10" ixy="-7.32E-11" ixz="-8.24E-11" iyy="2.73E-10" iyz="-2.20E-10" izz="2.23E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.17E-09" ixy="2.64E-10" ixz="2.80E-10" iyy="2.37E-09" iyz="-2.02E-09" izz="1.95E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.14E-09" ixy="7.76E-12" ixz="-2.27E-11" iyy="5.92E-10" iyz="5.83E-10" izz="5.57E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.84E-09" ixy="9.59E-11" ixz="-2.06E-10" iyy="1.42E-09" iyz="8.11E-10" izz="4.99E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.11E-09" ixy="-3.32E-10" ixz="-3.29E-10" iyy="7.49E-10" iyz="-5.46E-10" izz="7.48E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.00E-09" ixy="3.51E-10" ixz="2.86E-10" iyy="6.23E-10" iyz="-4.84E-10" izz="8.06E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.84E-11" ixy="4.06E-12" ixz="2.75E-11" iyy="7.72E-11" iyz="-1.06E-11" izz="1.63E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-09" ixy="2.62E-11" ixz="5.89E-11" iyy="1.07E-09" iyz="-4.70E-10" izz="2.30E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.77E-10" ixy="-1.36E-11" ixz="-5.52E-11" iyy="1.99E-10" iyz="-1.97E-11" izz="3.68E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.13E-10" ixy="9.44E-11" ixz="4.40E-10" iyy="9.41E-10" iyz="-8.98E-11" izz="4.73E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.07E-10" ixy="7.19E-11" ixz="-1.23E-11" iyy="7.50E-11" iyz="7.77E-12" izz="4.23E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.21E-10" ixy="-1.17E-10" ixz="2.57E-10" iyy="5.66E-10" iyz="1.64E-10" izz="2.62E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.02E-10" ixy="-9.26E-12" ixz="-6.68E-11" iyy="2.28E-10" iyz="-1.35E-11" izz="3.90E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.13E-09" ixy="2.50E-11" ixz="4.01E-11" iyy="9.01E-10" iyz="-4.62E-10" izz="2.88E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.18E-10" ixy="-1.52E-11" ixz="-6.85E-11" iyy="2.41E-10" iyz="-3.78E-11" izz="3.77E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.96E-10" ixy="2.82E-11" ixz="2.34E-11" iyy="1.34E-10" iyz="-1.46E-10" izz="1.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.41E-10" ixy="3.74E-12" ixz="-1.04E-10" iyy="4.71E-10" iyz="4.29E-11" izz="2.73E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.55E-10" ixy="-2.52E-11" ixz="-1.42E-10" iyy="5.87E-10" iyz="-7.24E-11" izz="5.16E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.36E-10" ixy="3.61E-11" ixz="-1.68E-10" iyy="9.16E-10" iyz="2.52E-10" izz="9.90E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
+  </joint>
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+  <joint name="link_convex_piece_2_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
+  </joint>
+  <link name="link_convex_piece_3">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.07E-08" ixy="4.44E-09" ixz="6.36E-09" iyy="1.39E-08" iyz="-4.79E-09" izz="2.15E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.18E-08" ixy="-4.37E-09" ixz="-6.42E-09" iyy="1.41E-08" iyz="-4.96E-09" izz="2.21E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.30E-08" ixy="3.87E-09" ixz="-2.40E-09" iyy="1.62E-08" iyz="-1.18E-09" izz="3.37E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.53E-08" ixy="-1.91E-09" ixz="2.41E-09" iyy="2.61E-08" iyz="-1.79E-09" izz="5.85E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.99E-10" ixy="2.28E-10" ixz="1.03E-10" iyy="2.68E-10" iyz="-3.99E-10" izz="8.87E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.40E-10" ixy="9.80E-11" ixz="-4.23E-11" iyy="1.23E-10" iyz="2.01E-10" izz="4.76E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.76E-09" ixy="-4.90E-10" ixz="9.27E-11" iyy="3.16E-10" iyz="9.40E-10" izz="4.67E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.93E-09" ixy="-1.76E-09" ixz="-3.49E-11" iyy="5.93E-10" iyz="-8.68E-11" izz="6.47E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.48E-09" ixy="2.21E-10" ixz="-4.43E-11" iyy="9.64E-11" iyz="2.85E-10" izz="1.46E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.09E-09" ixy="9.09E-10" ixz="-3.74E-10" iyy="1.08E-09" iyz="1.85E-09" izz="4.52E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.10E-09" ixy="-3.35E-09" ixz="-2.00E-11" iyy="1.82E-09" iyz="-1.08E-10" izz="9.27E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.95E-10" ixy="-9.29E-11" ixz="-3.61E-11" iyy="7.54E-11" iyz="-1.03E-10" izz="2.94E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.13E-08" ixy="3.52E-09" ixz="-1.00E-10" iyy="1.74E-09" iyz="3.02E-10" izz="1.24E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.54E-08" ixy="3.21E-12" ixz="6.84E-12" iyy="5.83E-09" iyz="-1.85E-10" izz="2.53E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.78E-09" ixy="-4.95E-10" ixz="1.31E-11" iyy="1.82E-10" iyz="8.72E-11" izz="3.77E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.41E-09" ixy="2.38E-10" ixz="1.37E-10" iyy="6.64E-10" iyz="-1.08E-09" izz="1.82E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.05E-10" ixy="-4.69E-11" ixz="-2.55E-11" iyy="1.04E-10" iyz="-1.75E-10" izz="3.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.73E-09" ixy="-6.70E-10" ixz="-1.42E-09" iyy="4.13E-09" iyz="-1.71E-09" izz="4.89E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.80E-09" ixy="-2.14E-10" ixz="-4.65E-10" iyy="4.33E-09" iyz="-2.11E-09" izz="3.61E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
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+    </inertial>
+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.26E-09" ixy="-1.06E-09" ixz="1.52E-09" iyy="7.67E-09" iyz="2.89E-10" izz="7.72E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.19E-13" ixy="-1.64E-12" ixz="-2.26E-12" iyy="1.43E-11" iyz="-2.75E-13" izz="1.41E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.77E-10" ixy="-3.88E-10" ixz="-1.27E-11" iyy="1.03E-09" iyz="-1.46E-12" izz="1.16E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.40E-11" ixy="9.96E-13" ixz="-6.71E-15" iyy="6.27E-13" iyz="-4.28E-12" izz="1.18E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.25E-10" ixy="-1.24E-10" ixz="-2.34E-10" iyy="1.33E-09" iyz="-1.47E-11" izz="1.26E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.04E-12" ixy="-1.50E-11" ixz="-2.83E-11" iyy="1.16E-10" iyz="-3.96E-12" izz="1.11E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.07E-10" ixy="2.06E-11" ixz="-2.53E-12" iyy="-4.21E-13" iyz="5.83E-13" izz="1.05E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.42E-10" ixy="-4.35E-10" ixz="8.68E-11" iyy="8.43E-10" iyz="4.65E-11" izz="1.06E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.49E-11" ixy="-6.47E-11" ixz="-5.67E-11" iyy="1.79E-10" iyz="-2.23E-11" izz="1.88E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.47E-12" ixy="-2.59E-12" ixz="1.32E-12" iyy="6.01E-12" iyz="5.99E-13" izz="6.87E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.62E-11" ixy="-5.95E-12" ixz="-2.01E-10" iyy="5.07E-10" iyz="-4.42E-12" izz="4.17E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.68E-10" ixy="-1.93E-10" ixz="1.33E-10" iyy="3.84E-10" iyz="7.80E-11" izz="4.41E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.04E-11" ixy="-6.59E-11" ixz="-2.26E-10" iyy="1.13E-09" iyz="-9.56E-12" izz="1.09E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.43E-10" ixy="6.06E-12" ixz="1.03E-10" iyy="3.76E-10" iyz="-4.13E-12" izz="3.83E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.43E-10" ixy="-2.32E-13" ixz="8.42E-11" iyy="2.74E-10" iyz="-8.57E-13" izz="2.99E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.08E-10" ixy="3.08E-11" ixz="2.24E-11" iyy="5.24E-11" iyz="-5.29E-11" izz="7.12E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.53E-11" ixy="4.02E-11" ixz="3.68E-13" iyy="1.47E-11" iyz="-6.32E-12" izz="9.17E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+</robot>
diff --git a/assets/graspnet/models/069/coacd_0.05/coacd_merge.obj b/assets/graspnet/models/069/coacd_0.05/coacd_merge.obj
new file mode 100644
index 0000000000000000000000000000000000000000..200f1aeab870bf13959a2c3e9c163a3207bad21e
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+        <mesh filename="convex_piece_0.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_convex_piece_1">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.72E-08" ixy="3.34E-11" ixz="-7.40E-11" iyy="3.56E-08" iyz="1.61E-12" izz="3.57E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_1_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_0"/>
+    <child link="link_convex_piece_1"/>
+  </joint>
+  <link name="link_convex_piece_2">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.23E-08" ixy="-1.05E-11" ixz="1.15E-11" iyy="6.47E-09" iyz="-1.18E-11" izz="6.50E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_2_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
+  </joint>
+  <link name="link_convex_piece_3">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.18E-08" ixy="-2.28E-11" ixz="1.68E-11" iyy="6.33E-09" iyz="-1.20E-11" izz="6.29E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.33E-09" ixy="-3.31E-12" ixz="-1.14E-12" iyy="1.75E-09" iyz="6.00E-12" izz="1.75E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.02E-10" ixy="-7.09E-11" ixz="4.10E-13" iyy="4.23E-10" iyz="4.05E-13" izz="3.08E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.35E-09" ixy="-5.77E-12" ixz="4.22E-10" iyy="1.50E-09" iyz="-2.41E-11" izz="1.99E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.68E-10" ixy="8.75E-12" ixz="-9.07E-11" iyy="2.91E-10" iyz="2.53E-11" izz="4.06E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.88E-11" ixy="1.54E-11" ixz="-1.51E-11" iyy="3.70E-11" iyz="2.82E-11" izz="3.82E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.39E-10" ixy="3.99E-11" ixz="4.74E-12" iyy="1.59E-11" iyz="-1.62E-11" izz="1.47E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.03E-11" ixy="2.70E-11" ixz="2.30E-13" iyy="9.22E-12" iyz="-7.64E-13" izz="9.74E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.03E-10" ixy="-5.20E-11" ixz="-5.58E-12" iyy="2.01E-11" iyz="-2.13E-11" izz="2.11E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.37E-10" ixy="1.63E-10" ixz="1.21E-12" iyy="3.17E-10" iyz="-1.07E-12" izz="4.65E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.47E-10" ixy="-9.72E-11" ixz="1.27E-13" iyy="3.48E-11" iyz="4.20E-13" izz="3.69E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-09" ixy="2.99E-10" ixz="5.32E-12" iyy="6.31E-10" iyz="-4.18E-12" izz="8.93E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-09" ixy="-3.00E-10" ixz="-6.51E-12" iyy="5.83E-10" iyz="-1.20E-11" izz="9.26E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.09E-09" ixy="-1.85E-12" ixz="2.39E-10" iyy="7.52E-10" iyz="-3.16E-13" izz="5.29E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.64E-10" ixy="6.16E-11" ixz="8.22E-12" iyy="5.38E-11" iyz="-1.39E-11" izz="1.69E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.00E-09" ixy="1.50E-11" ixz="-3.49E-10" iyy="8.26E-10" iyz="4.49E-11" izz="6.11E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.63E-10" ixy="9.86E-12" ixz="6.20E-12" iyy="6.38E-10" iyz="1.73E-11" izz="1.74E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
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+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.36E-11" ixy="6.30E-11" ixz="-4.02E-11" iyy="1.95E-10" iyz="1.43E-11" izz="2.08E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.45E-11" ixy="1.46E-12" ixz="-6.22E-12" iyy="1.74E-11" iyz="4.73E-12" izz="9.45E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.27E-11" ixy="-5.80E-12" ixz="8.82E-12" iyy="2.01E-11" iyz="9.69E-12" izz="1.06E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.69E-11" ixy="4.97E-12" ixz="-1.28E-11" iyy="4.26E-11" iyz="1.59E-11" izz="1.13E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.03E-10" ixy="1.41E-12" ixz="8.85E-12" iyy="9.52E-11" iyz="-2.21E-11" izz="7.24E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.48E-10" ixy="1.80E-12" ixz="3.34E-12" iyy="7.62E-11" iyz="-6.83E-11" izz="6.80E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.59E-11" ixy="-4.70E-12" ixz="-1.01E-11" iyy="7.20E-11" iyz="-2.82E-11" izz="1.49E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.11E-10" ixy="-1.99E-13" ixz="3.22E-12" iyy="1.05E-10" iyz="-1.88E-11" izz="3.70E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.64E-10" ixy="-7.69E-12" ixz="-5.84E-12" iyy="1.36E-10" iyz="-1.27E-10" izz="1.24E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.71E-12" ixy="-4.31E-13" ixz="-2.54E-12" iyy="7.48E-12" iyz="-9.14E-13" izz="9.80E-13"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.78E-11" ixy="1.63E-12" ixz="1.02E-11" iyy="7.36E-11" iyz="-1.51E-11" izz="5.12E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.36E-11" ixy="-2.43E-12" ixz="5.36E-12" iyy="2.09E-11" iyz="8.38E-12" izz="4.95E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.48E-11" ixy="7.63E-12" ixz="7.89E-12" iyy="4.08E-11" iyz="-3.94E-11" izz="4.50E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.50E-11" ixy="-5.33E-12" ixz="8.36E-12" iyy="2.71E-11" iyz="1.52E-11" izz="1.23E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.30E-10" ixy="-3.52E-12" ixz="-6.24E-12" iyy="2.07E-10" iyz="-6.14E-11" izz="1.92E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.84E-11" ixy="-9.57E-12" ixz="-3.77E-12" iyy="1.09E-11" iyz="-2.00E-11" izz="4.96E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.14E-11" ixy="-4.25E-12" ixz="-3.41E-12" iyy="1.81E-11" iyz="-2.02E-11" izz="2.37E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.08E-11" ixy="-5.94E-12" ixz="-9.03E-12" iyy="4.47E-11" iyz="-2.54E-11" izz="1.85E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.02E-11" ixy="7.56E-12" ixz="-3.70E-12" iyy="1.16E-10" iyz="-8.78E-13" izz="1.18E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.70E-11" ixy="5.57E-12" ixz="5.79E-12" iyy="4.34E-11" iyz="-4.53E-11" izz="5.27E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.34E-12" ixy="1.00E-12" ixz="-1.90E-13" iyy="8.40E-12" iyz="7.67E-13" izz="6.61E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.42E-12" ixy="8.67E-14" ixz="-6.41E-13" iyy="3.61E-12" iyz="1.58E-12" izz="8.57E-13"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.23E-11" ixy="-5.00E-12" ixz="4.76E-12" iyy="1.47E-11" iyz="9.08E-12" izz="9.22E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.76E-11" ixy="-6.40E-12" ixz="-7.51E-12" iyy="4.92E-11" iyz="-3.43E-11" izz="2.86E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.00E-11" ixy="-3.52E-12" ixz="2.88E-12" iyy="1.13E-11" iyz="7.91E-12" izz="7.43E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.61E-11" ixy="8.30E-12" ixz="-1.99E-13" iyy="2.62E-12" iyz="1.53E-12" izz="4.55E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.45E-11" ixy="-1.73E-12" ixz="4.85E-12" iyy="1.46E-11" iyz="3.79E-12" izz="2.24E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.80E-11" ixy="1.63E-12" ixz="-3.93E-12" iyy="1.45E-11" iyz="6.15E-12" izz="5.22E-12"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.49E-11" ixy="-1.38E-12" ixz="-8.04E-13" iyy="1.92E-11" iyz="-2.15E-11" izz="2.46E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.12E-11" ixy="-9.19E-12" ixz="5.80E-12" iyy="1.94E-11" iyz="2.67E-11" izz="4.41E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.51E-10" ixy="2.74E-12" ixz="-1.51E-12" iyy="3.40E-11" iyz="5.52E-11" izz="1.13E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.75E-11" ixy="1.22E-11" ixz="8.39E-12" iyy="2.80E-11" iyz="-3.68E-11" izz="6.25E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.22E-11" ixy="-9.48E-13" ixz="-5.20E-12" iyy="4.15E-11" iyz="-4.85E-12" izz="8.70E-13"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.74E-11" ixy="-9.71E-12" ixz="-2.82E-12" iyy="8.92E-12" iyz="-2.18E-11" izz="6.92E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.25E-10" ixy="-3.76E-12" ixz="-7.47E-13" iyy="1.43E-11" iyz="-3.79E-11" izz="1.08E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.70E-11" ixy="8.74E-12" ixz="1.21E-12" iyy="3.00E-12" iyz="-7.07E-12" izz="6.48E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_39_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
+  </joint>
+  <link name="link_convex_piece_40">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.28E-11" ixy="2.43E-12" ixz="5.47E-12" iyy="5.95E-11" iyz="-3.33E-11" izz="2.19E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
+  </joint>
+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.93E-11" ixy="-8.63E-12" ixz="1.03E-12" iyy="2.20E-12" iyz="5.09E-12" izz="4.90E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
+  </joint>
+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
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+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_47.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_49_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <child link="link_convex_piece_53"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_57"/>
+    <child link="link_convex_piece_58"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_58"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_61"/>
+    <child link="link_convex_piece_62"/>
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+    <parent link="link_convex_piece_63"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_99"/>
+    <child link="link_convex_piece_100"/>
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+    <parent link="link_convex_piece_117"/>
+    <child link="link_convex_piece_118"/>
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+      <material name="">
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_118"/>
+    <child link="link_convex_piece_119"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_119"/>
+    <child link="link_convex_piece_120"/>
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+    <parent link="link_convex_piece_120"/>
+    <child link="link_convex_piece_121"/>
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+    <child link="link_convex_piece_122"/>
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+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.29E-09" ixy="9.19E-10" ixz="-8.07E-10" iyy="1.62E-09" iyz="1.05E-09" izz="2.01E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.32E-09" ixy="-1.43E-10" ixz="7.25E-10" iyy="1.68E-09" iyz="2.14E-10" izz="4.52E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.64E-09" ixy="8.39E-10" ixz="1.91E-10" iyy="5.68E-10" iyz="-3.52E-10" izz="1.99E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.29E-10" ixy="-6.86E-11" ixz="-6.04E-11" iyy="1.21E-10" iyz="-6.25E-11" izz="1.31E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.14E-13" ixy="2.02E-12" ixz="-1.52E-11" iyy="1.18E-10" iyz="1.19E-12" izz="1.15E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.43E-11" ixy="4.70E-11" ixz="-2.19E-11" iyy="1.42E-10" iyz="9.01E-12" izz="1.60E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.03E-11" ixy="5.21E-11" ixz="-7.61E-11" iyy="1.75E-10" iyz="4.08E-11" izz="1.60E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.62E-10" ixy="2.84E-10" ixz="4.09E-10" iyy="8.91E-10" iyz="-4.46E-10" izz="5.89E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.69E-10" ixy="1.39E-10" ixz="-4.93E-11" iyy="9.38E-11" iyz="1.38E-10" izz="4.71E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.02E-11" ixy="-7.14E-12" ixz="8.99E-11" iyy="2.21E-10" iyz="8.51E-13" izz="1.60E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.27E-09" ixy="5.38E-10" ixz="4.01E-10" iyy="8.15E-10" iyz="-5.88E-10" izz="1.18E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.95E-11" ixy="-1.10E-10" ixz="-4.14E-11" iyy="1.56E-10" iyz="-2.64E-11" izz="2.22E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.98E-11" ixy="2.78E-11" ixz="4.31E-11" iyy="9.80E-11" iyz="-3.21E-11" izz="7.49E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.65E-11" ixy="-5.16E-11" ixz="-3.95E-11" iyy="2.10E-10" iyz="-6.99E-12" izz="2.11E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
+  </joint>
+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.55E-10" ixy="-1.36E-10" ixz="5.74E-11" iyy="1.53E-10" iyz="9.81E-11" izz="3.09E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.12E-11" ixy="-2.08E-11" ixz="6.15E-13" iyy="4.89E-12" iyz="4.57E-12" izz="5.56E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.80E-11" ixy="-4.22E-11" ixz="-8.08E-11" iyy="1.85E-10" iyz="-2.08E-11" izz="1.44E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.53E-12" ixy="-1.22E-11" ixz="1.24E-11" iyy="8.89E-11" iyz="1.97E-12" izz="8.66E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.45E-10" ixy="4.99E-11" ixz="-3.76E-12" iyy="1.75E-11" iyz="7.24E-12" izz="1.62E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_1.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_1_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_0"/>
+    <child link="link_convex_piece_1"/>
+  </joint>
+  <link name="link_convex_piece_2">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.02E-08" ixy="8.46E-10" ixz="-1.75E-09" iyy="2.35E-08" iyz="1.22E-08" izz="6.20E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_2.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_2_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_1"/>
+    <child link="link_convex_piece_2"/>
+  </joint>
+  <link name="link_convex_piece_3">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.74E-08" ixy="1.59E-09" ixz="-4.72E-09" iyy="8.58E-08" iyz="3.04E-08" izz="1.08E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_3.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_3_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_2"/>
+    <child link="link_convex_piece_3"/>
+  </joint>
+  <link name="link_convex_piece_4">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.99E-08" ixy="2.18E-09" ixz="1.24E-09" iyy="1.47E-08" iyz="-1.21E-08" izz="1.41E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_4.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_4_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_3"/>
+    <child link="link_convex_piece_4"/>
+  </joint>
+  <link name="link_convex_piece_5">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.29E-08" ixy="3.32E-10" ixz="5.90E-10" iyy="1.05E-08" iyz="-4.95E-09" izz="2.24E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_5.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_5_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_4"/>
+    <child link="link_convex_piece_5"/>
+  </joint>
+  <link name="link_convex_piece_6">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="5.94E-08" ixy="-8.08E-10" ixz="2.05E-09" iyy="5.20E-08" iyz="1.88E-08" izz="6.70E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_6.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_6_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_5"/>
+    <child link="link_convex_piece_6"/>
+  </joint>
+  <link name="link_convex_piece_7">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.10E-08" ixy="-4.32E-09" ixz="1.99E-08" iyy="7.24E-08" iyz="1.43E-08" izz="9.39E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_7.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_7_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_6"/>
+    <child link="link_convex_piece_7"/>
+  </joint>
+  <link name="link_convex_piece_8">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.92E-09" ixy="3.75E-12" ixz="1.08E-10" iyy="7.78E-09" iyz="2.44E-10" izz="-9.55E-11"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_8.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_8_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_7"/>
+    <child link="link_convex_piece_8"/>
+  </joint>
+  <link name="link_convex_piece_9">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.91E-09" ixy="6.84E-11" ixz="1.05E-10" iyy="4.20E-09" iyz="-1.56E-09" izz="4.81E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_9.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_9_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_8"/>
+    <child link="link_convex_piece_9"/>
+  </joint>
+  <link name="link_convex_piece_10">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.28E-08" ixy="-7.52E-10" ixz="-1.75E-09" iyy="2.64E-08" iyz="-1.27E-08" izz="5.89E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_10.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_10_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_9"/>
+    <child link="link_convex_piece_10"/>
+  </joint>
+  <link name="link_convex_piece_11">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.07E-09" ixy="4.75E-10" ixz="5.49E-10" iyy="2.96E-09" iyz="-1.70E-09" izz="9.97E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_11.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_11_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_10"/>
+    <child link="link_convex_piece_11"/>
+  </joint>
+  <link name="link_convex_piece_12">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.97E-09" ixy="7.75E-10" ixz="2.46E-09" iyy="5.80E-09" iyz="-1.34E-09" izz="1.70E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_12.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_12_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_11"/>
+    <child link="link_convex_piece_12"/>
+  </joint>
+  <link name="link_convex_piece_13">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.93E-09" ixy="1.22E-09" ixz="-8.46E-10" iyy="2.09E-09" iyz="2.85E-09" izz="5.48E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_13.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_13_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_12"/>
+    <child link="link_convex_piece_13"/>
+  </joint>
+  <link name="link_convex_piece_14">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.08E-08" ixy="-1.70E-09" ixz="9.63E-10" iyy="1.47E-08" iyz="1.25E-08" izz="1.49E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_14.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_14_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_13"/>
+    <child link="link_convex_piece_14"/>
+  </joint>
+  <link name="link_convex_piece_15">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.34E-08" ixy="-1.38E-09" ixz="-1.59E-09" iyy="1.10E-08" iyz="-1.06E-08" izz="1.15E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_15.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_15_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_14"/>
+    <child link="link_convex_piece_15"/>
+  </joint>
+  <link name="link_convex_piece_16">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.03E-07" ixy="-1.86E-10" ixz="3.74E-09" iyy="1.01E-07" iyz="6.11E-09" izz="7.13E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_16.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_16_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_15"/>
+    <child link="link_convex_piece_16"/>
+  </joint>
+  <link name="link_convex_piece_17">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.80E-08" ixy="2.44E-10" ixz="6.91E-09" iyy="3.82E-08" iyz="-7.59E-10" izz="3.12E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_17.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_17_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_16"/>
+    <child link="link_convex_piece_17"/>
+  </joint>
+  <link name="link_convex_piece_18">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.69E-08" ixy="1.69E-09" ixz="-1.91E-09" iyy="1.36E-08" iyz="1.22E-08" izz="1.23E-08"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_18.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_18_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_17"/>
+    <child link="link_convex_piece_18"/>
+  </joint>
+  <link name="link_convex_piece_19">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.71E-09" ixy="-2.01E-09" ixz="-3.76E-09" iyy="8.29E-09" iyz="-3.68E-09" izz="3.92E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_19.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_19_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_18"/>
+    <child link="link_convex_piece_19"/>
+  </joint>
+  <link name="link_convex_piece_20">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.42E-09" ixy="3.17E-10" ixz="-4.31E-10" iyy="6.21E-10" iyz="6.53E-10" izz="6.28E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_20.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_20_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_19"/>
+    <child link="link_convex_piece_20"/>
+  </joint>
+  <link name="link_convex_piece_21">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="9.55E-10" ixy="7.67E-11" ixz="-8.97E-12" iyy="2.32E-10" iyz="-4.58E-10" izz="4.87E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_21.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_21_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_20"/>
+    <child link="link_convex_piece_21"/>
+  </joint>
+  <link name="link_convex_piece_22">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.90E-09" ixy="2.02E-11" ixz="-6.36E-11" iyy="1.60E-09" iyz="6.56E-10" izz="2.30E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_22.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_22_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_21"/>
+    <child link="link_convex_piece_22"/>
+  </joint>
+  <link name="link_convex_piece_23">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="8.14E-10" ixy="-2.75E-11" ixz="-5.67E-11" iyy="3.22E-10" iyz="-4.09E-10" izz="3.86E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_23.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_23_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_22"/>
+    <child link="link_convex_piece_23"/>
+  </joint>
+  <link name="link_convex_piece_24">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.29E-09" ixy="-3.05E-10" ixz="8.15E-10" iyy="2.45E-09" iyz="5.99E-10" izz="1.05E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_24.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_24_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_23"/>
+    <child link="link_convex_piece_24"/>
+  </joint>
+  <link name="link_convex_piece_25">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.12E-09" ixy="4.11E-11" ixz="-7.69E-11" iyy="4.71E-10" iyz="5.58E-10" izz="4.94E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_25.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_25_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_24"/>
+    <child link="link_convex_piece_25"/>
+  </joint>
+  <link name="link_convex_piece_26">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.05E-09" ixy="8.51E-10" ixz="1.78E-09" iyy="3.71E-09" iyz="-1.12E-09" izz="1.75E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_26.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_26_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_25"/>
+    <child link="link_convex_piece_26"/>
+  </joint>
+  <link name="link_convex_piece_27">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.67E-10" ixy="4.28E-10" ixz="5.71E-12" iyy="9.43E-10" iyz="-3.90E-11" izz="1.14E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_27.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_27_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_26"/>
+    <child link="link_convex_piece_27"/>
+  </joint>
+  <link name="link_convex_piece_28">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.37E-09" ixy="1.60E-09" ixz="-6.87E-10" iyy="1.29E-09" iyz="7.23E-10" izz="3.19E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_28.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_28_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_27"/>
+    <child link="link_convex_piece_28"/>
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+  <link name="link_convex_piece_29">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_29.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_29_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_28"/>
+    <child link="link_convex_piece_29"/>
+  </joint>
+  <link name="link_convex_piece_30">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_30.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_30_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_29"/>
+    <child link="link_convex_piece_30"/>
+  </joint>
+  <link name="link_convex_piece_31">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.35E-08" ixy="5.93E-10" ixz="5.82E-09" iyy="2.46E-08" iyz="-2.24E-09" izz="1.57E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_31.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_31_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_30"/>
+    <child link="link_convex_piece_31"/>
+  </joint>
+  <link name="link_convex_piece_32">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.25E-08" ixy="-5.88E-10" ixz="-1.37E-09" iyy="9.86E-09" iyz="-4.94E-09" izz="2.42E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_32.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_32_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_31"/>
+    <child link="link_convex_piece_32"/>
+  </joint>
+  <link name="link_convex_piece_33">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="6.82E-09" ixy="2.29E-10" ixz="-9.07E-10" iyy="6.26E-09" iyz="1.68E-09" izz="4.16E-10"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_33.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_33_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_32"/>
+    <child link="link_convex_piece_33"/>
+  </joint>
+  <link name="link_convex_piece_34">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.16E-09" ixy="8.91E-10" ixz="8.23E-10" iyy="1.89E-09" iyz="-5.64E-10" izz="1.85E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_34.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_34_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_33"/>
+    <child link="link_convex_piece_34"/>
+  </joint>
+  <link name="link_convex_piece_35">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.85E-08" ixy="-3.33E-09" ixz="5.02E-09" iyy="1.48E-08" iyz="8.32E-09" izz="7.57E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_35.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_35_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_34"/>
+    <child link="link_convex_piece_35"/>
+  </joint>
+  <link name="link_convex_piece_36">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="3.75E-10" ixy="-5.94E-10" ixz="-4.47E-10" iyy="1.92E-09" iyz="-1.05E-10" izz="2.05E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_36.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_36_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_35"/>
+    <child link="link_convex_piece_36"/>
+  </joint>
+  <link name="link_convex_piece_37">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="4.98E-09" ixy="-7.90E-10" ixz="2.53E-09" iyy="5.89E-09" iyz="1.36E-09" izz="1.79E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_37.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_37_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_36"/>
+    <child link="link_convex_piece_37"/>
+  </joint>
+  <link name="link_convex_piece_38">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="7.01E-09" ixy="-9.36E-10" ixz="-7.52E-10" iyy="2.28E-09" iyz="-2.67E-09" izz="4.41E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_38.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_38_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_37"/>
+    <child link="link_convex_piece_38"/>
+  </joint>
+  <link name="link_convex_piece_39">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="1.72E-08" ixy="6.65E-10" ixz="5.30E-09" iyy="1.84E-08" iyz="-1.99E-09" izz="1.79E-09"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
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+      <geometry>
+        <mesh filename="convex_piece_39.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_38"/>
+    <child link="link_convex_piece_39"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_40.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_40_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_39"/>
+    <child link="link_convex_piece_40"/>
+  </joint>
+  <link name="link_convex_piece_41">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_41.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_41_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_40"/>
+    <child link="link_convex_piece_41"/>
+  </joint>
+  <link name="link_convex_piece_42">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <inertia ixx="2.21E-09" ixy="5.33E-11" ixz="-7.89E-10" iyy="1.97E-09" iyz="4.68E-11" izz="-1.08E-10"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_42.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_42_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_41"/>
+    <child link="link_convex_piece_42"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_43.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_43_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_42"/>
+    <child link="link_convex_piece_43"/>
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+  <link name="link_convex_piece_44">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
+    <collision>
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+      <geometry>
+        <mesh filename="convex_piece_44.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_44_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_43"/>
+    <child link="link_convex_piece_44"/>
+  </joint>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+      <material name="">
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+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_45.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_45_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_44"/>
+    <child link="link_convex_piece_45"/>
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+    <inertial>
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+    <visual>
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+      <geometry>
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+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_46.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_46_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_45"/>
+    <child link="link_convex_piece_46"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_46"/>
+    <child link="link_convex_piece_47"/>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_47"/>
+    <child link="link_convex_piece_48"/>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_48"/>
+    <child link="link_convex_piece_49"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
+  <joint name="link_convex_piece_50_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_49"/>
+    <child link="link_convex_piece_50"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_50"/>
+    <child link="link_convex_piece_51"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_51"/>
+    <child link="link_convex_piece_52"/>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_52"/>
+    <child link="link_convex_piece_53"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_53"/>
+    <child link="link_convex_piece_54"/>
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_54"/>
+    <child link="link_convex_piece_55"/>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_55"/>
+    <child link="link_convex_piece_56"/>
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+      <geometry>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_56"/>
+    <child link="link_convex_piece_57"/>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+      <geometry>
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+      <material name="">
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_58"/>
+    <child link="link_convex_piece_59"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_59"/>
+    <child link="link_convex_piece_60"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <child link="link_convex_piece_61"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_61"/>
+    <child link="link_convex_piece_62"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <child link="link_convex_piece_63"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_63"/>
+    <child link="link_convex_piece_64"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_64"/>
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+    <parent link="link_convex_piece_76"/>
+    <child link="link_convex_piece_77"/>
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+  <link name="link_convex_piece_78">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_78.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_78.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_78_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_77"/>
+    <child link="link_convex_piece_78"/>
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+  <link name="link_convex_piece_79">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_79.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+      <material name="">
+        <color rgba="7.50E-01 7.50E-01 7.50E-01 1"/>
+      </material>
+    </visual>
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="convex_piece_79.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_79_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_78"/>
+    <child link="link_convex_piece_79"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_80_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_79"/>
+    <child link="link_convex_piece_80"/>
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+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      </material>
+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_81.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="link_convex_piece_81_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_80"/>
+    <child link="link_convex_piece_81"/>
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+  <link name="link_convex_piece_82">
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
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+      </geometry>
+      <material name="">
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+    </visual>
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+      <geometry>
+        <mesh filename="convex_piece_82.obj" scale="1.0000E+00 1.0000E+00 1.0000E+00"/>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_82_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_81"/>
+    <child link="link_convex_piece_82"/>
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+  <link name="link_convex_piece_83">
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+      <origin xyz="0 0 0" rpy="0 0 0"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+    </collision>
+  </link>
+  <joint name="link_convex_piece_83_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_82"/>
+    <child link="link_convex_piece_83"/>
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+    <visual>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_83"/>
+    <child link="link_convex_piece_84"/>
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+    <inertial>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_84"/>
+    <child link="link_convex_piece_85"/>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_85"/>
+    <child link="link_convex_piece_86"/>
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+  <link name="link_convex_piece_87">
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_86"/>
+    <child link="link_convex_piece_87"/>
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+      <geometry>
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+      <material name="">
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_87"/>
+    <child link="link_convex_piece_88"/>
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+      <geometry>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_88"/>
+    <child link="link_convex_piece_89"/>
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+      <geometry>
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+      <material name="">
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+      <geometry>
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+  </link>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_89"/>
+    <child link="link_convex_piece_90"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_90"/>
+    <child link="link_convex_piece_91"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_91"/>
+    <child link="link_convex_piece_92"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_92"/>
+    <child link="link_convex_piece_93"/>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_93"/>
+    <child link="link_convex_piece_94"/>
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+      <material name="">
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_94"/>
+    <child link="link_convex_piece_95"/>
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+      <material name="">
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+      <geometry>
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+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="link_convex_piece_95"/>
+    <child link="link_convex_piece_96"/>
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