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<link name="Pelvis_v4_1">
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<link name="Chest_v6_1">
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<link name="Upper_Arm_Link_type_b_v2_1">
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<link name="Upper_Arm_Roll_Link_v2_1">
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<link name="Upper_Arm_v8_1">
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<link name="Lower_Arm_v3_1">
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<link name="Upper_Arm_Link_type_b_v2_2">
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<link name="Upper_Arm_Roll_Link_v2_2">
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<link name="Upper_Arm_v8_3">
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<link name="Lower_Arm_v3_2">
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<link name="Box_Head_v1_1">
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<link name="Leg_Pitch_v2_1">
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<link name="Leg_Roll_v2_1">
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<link name="Upper_Leg_v1_1">
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<link name="Lower_Leg_v2_1">
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<link name="Foot_v2_1">
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<link name="Leg_Pitch_v2_2">
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<link name="Leg_Roll_v2_2">
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<link name="Upper_Leg_v1_2">
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<link name="Lower_Leg_v2_2">
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<link name="Ankle_Link_v1_2">
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    <origin rpy="0 0 0" xyz="-0.07 -0.15 0.6764"/>
    <geometry>
      <mesh filename="package://olympian_description/meshes/Ankle_Link_v1_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="Foot_v2_2">
  <inertial>
    <origin rpy="0 0 0" xyz="0.03625642783112998 -0.02031447883025836 -0.0403940100478859"/>
    <mass value="4.897531572251076"/>
    <inertia ixx="0.010851" ixy="1.5e-05" ixz="0.000818" iyy="0.030274" iyz="-7e-06" izz="0.039729"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="-0.1 -0.17 0.7114"/>
    <geometry>
      <mesh filename="package://olympian_description/meshes/Foot_v2_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver_default"/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="-0.1 -0.17 0.7114"/>
    <geometry>
      <mesh filename="package://olympian_description/meshes/Foot_v2_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<joint name="Rev1" type="continuous">
  <origin rpy="0 0 0" xyz="0.1 -0.05 0.15"/>
  <parent link="base_link"/>
  <child link="Pelvis_v4_1"/>
  <axis xyz="-0.0 1.0 0.0"/>
</joint>

<joint name="Rev2" type="continuous">
  <origin rpy="0 0 0" xyz="-0.0375 0.05 0.075"/>
  <parent link="Pelvis_v4_1"/>
  <child link="Chest_v6_1"/>
  <axis xyz="-1.0 -0.0 -0.0"/>
</joint>

<joint name="Rev3" type="continuous">
  <origin rpy="0 0 0" xyz="0.0375 -0.275 0.5164"/>
  <parent link="Chest_v6_1"/>
  <child link="Upper_Arm_Link_type_b_v2_1"/>
  <axis xyz="0.0 -1.0 -0.0"/>
</joint>

<joint name="Rev4" type="continuous">
  <origin rpy="0 0 0" xyz="-0.05 -0.075 -0.0125"/>
  <parent link="Upper_Arm_Link_type_b_v2_1"/>
  <child link="Upper_Arm_Roll_Link_v2_1"/>
  <axis xyz="-1.0 -0.0 -0.0"/>
</joint>

<joint name="Rev5" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
  <parent link="Upper_Arm_Roll_Link_v2_1"/>
  <child link="Upper_Arm_v8_1"/>
  <axis xyz="0.0 0.0 -1.0"/>
</joint>

<joint name="Rev6" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 0.0 -0.3675"/>
  <parent link="Upper_Arm_v8_1"/>
  <child link="Lower_Arm_v3_1"/>
  <axis xyz="-1.0 -0.0 -0.0"/>
</joint>

<joint name="Rev7" type="continuous">
  <origin rpy="0 0 0" xyz="0.0375 0.275 0.5164"/>
  <parent link="Chest_v6_1"/>
  <child link="Upper_Arm_Link_type_b_v2_2"/>
  <axis xyz="-0.0 1.0 0.0"/>
</joint>

<joint name="Rev8" type="continuous">
  <origin rpy="0 0 0" xyz="-0.05 0.075 -0.0125"/>
  <parent link="Upper_Arm_Link_type_b_v2_2"/>
  <child link="Upper_Arm_Roll_Link_v2_2"/>
  <axis xyz="-1.0 -0.0 -0.0"/>
</joint>

<joint name="Rev9" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 0.0 -0.05635"/>
  <parent link="Upper_Arm_Roll_Link_v2_2"/>
  <child link="Upper_Arm_v8_3"/>
  <axis xyz="0.0 0.0 -1.0"/>
</joint>

<joint name="Rev10" type="continuous">
  <origin rpy="0 0 0" xyz="-0.05 0.0 -0.3675"/>
  <parent link="Upper_Arm_v8_3"/>
  <child link="Lower_Arm_v3_2"/>
  <axis xyz="1.0 0.0 0.0"/>
</joint>

<joint name="Rev11" type="continuous">
  <origin rpy="0 0 0" xyz="0.0375 0.0 0.5664"/>
  <parent link="Chest_v6_1"/>
  <child link="Box_Head_v1_1"/>
  <axis xyz="-0.0 -0.0 1.0"/>
</joint>

<joint name="Rev12" type="continuous">
  <origin rpy="0 0 0" xyz="0.1 -0.1 0.05"/>
  <parent link="base_link"/>
  <child link="Leg_Pitch_v2_1"/>
  <axis xyz="0.0 -1.0 -0.0"/>
</joint>

<joint name="Rev13" type="continuous">
  <origin rpy="0 0 0" xyz="-0.075 -0.05 0.0"/>
  <parent link="Leg_Pitch_v2_1"/>
  <child link="Leg_Roll_v2_1"/>
  <axis xyz="-1.0 -0.0 -0.0"/>
</joint>

<joint name="Rev14" type="continuous">
  <origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
  <parent link="Leg_Roll_v2_1"/>
  <child link="Upper_Leg_v1_1"/>
  <axis xyz="0.0 0.0 -1.0"/>
</joint>

<joint name="Rev15" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.05 -0.2982"/>
  <parent link="Upper_Leg_v1_1"/>
  <child link="Lower_Leg_v2_1"/>
  <axis xyz="-0.0 1.0 0.0"/>
</joint>

<joint name="Rev16" type="continuous">
  <origin rpy="0 0 0" xyz="-0.03 0.05 -0.3532"/>
  <parent link="Lower_Leg_v2_1"/>
  <child link="Ankle_Link_v1_1"/>
  <axis xyz="1.0 0.0 0.0"/>
</joint>

<joint name="Rev19" type="continuous">
  <origin rpy="0 0 0" xyz="0.03 -0.02 -0.035"/>
  <parent link="Ankle_Link_v1_1"/>
  <child link="Foot_v2_1"/>
  <axis xyz="0.0 -1.0 -0.0"/>
</joint>

<joint name="Rev20" type="continuous">
  <origin rpy="0 0 0" xyz="0.1 0.1 0.05"/>
  <parent link="base_link"/>
  <child link="Leg_Pitch_v2_2"/>
  <axis xyz="-0.0 1.0 0.0"/>
</joint>

<joint name="Rev21" type="continuous">
  <origin rpy="0 0 0" xyz="-0.075 0.05 0.0"/>
  <parent link="Leg_Pitch_v2_2"/>
  <child link="Leg_Roll_v2_2"/>
  <axis xyz="-1.0 -0.0 -0.0"/>
</joint>

<joint name="Rev22" type="continuous">
  <origin rpy="0 0 0" xyz="0.075 0.0 -0.075"/>
  <parent link="Leg_Roll_v2_2"/>
  <child link="Upper_Leg_v1_2"/>
  <axis xyz="0.0 0.0 -1.0"/>
</joint>

<joint name="Rev23" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 0.05 -0.2982"/>
  <parent link="Upper_Leg_v1_2"/>
  <child link="Lower_Leg_v2_2"/>
  <axis xyz="0.0 -1.0 -0.0"/>
</joint>

<joint name="Rev24" type="continuous">
  <origin rpy="0 0 0" xyz="-0.03 -0.05 -0.3532"/>
  <parent link="Lower_Leg_v2_2"/>
  <child link="Ankle_Link_v1_2"/>
  <axis xyz="1.0 0.0 0.0"/>
</joint>

<joint name="Rev25" type="continuous">
  <origin rpy="0 0 0" xyz="0.03 0.02 -0.035"/>
  <parent link="Ankle_Link_v1_2"/>
  <child link="Foot_v2_2"/>
  <axis xyz="-0.0 1.0 0.0"/>
</joint>

</robot>
