I have go through the tutorial of "build a robot", in the "[Inertial parameters of triangle meshes](http://gazebosim.org/tutorials?tut=inertia&cat=build_robot)" sub-tutorial, I find the model used in the picture named "NIFTi". I am making a very similar robot now, and really want to refer to this one. So, could anyone please provide the source of the description file of this robot to me?
I would be very grateful.
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