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<link name="base_link">
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<link name="Pelvis_v7_1">
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<link name="Chest_v13_1">
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<link name="Box_Head_v5_1">
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<link name="Upper_Arm_Link_type_b_v9_1">
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<link name="Upper_Arm_Roll_Link_v5_1">
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<link name="Upper_Arm_v10_1">
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<link name="Lower_Arm_v8_1">
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<link name="Upper_Arm_Link_type_b_v9_2">
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<link name="Upper_Arm_Roll_Link_v5_2">
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<link name="Upper_Arm_v10_3">
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<link name="Lower_Arm_v8_2">
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<link name="Leg_Pitch_v5_1">
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<link name="Leg_Roll_v4_1">
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<link name="Upper_Leg_v4_1">
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<link name="Lower_Leg_v6_1">
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<link name="Ankle_Link_v5_1">
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<link name="Foot_v4_1">
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<link name="Leg_Pitch_v5_2">
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<link name="Leg_Roll_v4_2">
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<link name="Upper_Leg_v4_2">
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<link name="Lower_Leg_v6_2">
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    <mass value="1.4272888897799032"/>
    <inertia ixx="0.02027203031763311" ixy="-1.2906342661267445e-15" ixz="-2.2065682614424986e-15" iyy="0.003070799531336932" iyz="2.7755575615628914e-17" izz="0.0202788236044206"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="-0.3 -0.4388 -0.1"/>
    <geometry>
      <mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
    <material/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="-0.3 -0.4388 -0.1"/>
    <geometry>
      <mesh filename="meshes/Lower_Leg_v6_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="Ankle_Link_v5_2">
  <inertial>
    <origin rpy="0 0 0" xyz="3.3306690738754696e-16 -0.014239102534719106 0.03"/>
    <mass value="0.02966359637804546"/>
    <inertia ixx="3.134717230673467e-05" ixy="-1.0842021724855044e-19" ixz="1.0842021724855044e-19" iyy="1.4582407636995302e-05" iyz="-8.131516293641283e-20" izz="2.6914982867942694e-05"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="-0.25 -0.0856 -0.07"/>
    <geometry>
      <mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
    <material/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="-0.25 -0.0856 -0.07"/>
    <geometry>
      <mesh filename="meshes/Ankle_Link_v5_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<link name="Foot_v4_2">
  <inertial>
    <origin rpy="0 0 0" xyz="-0.020314478830258637 -0.040394010047884774 0.03625642783112962"/>
    <mass value="0.8921618023336354"/>
    <inertia ixx="0.0055148019028652545" ixy="-1.2922841769041904e-06" ixz="2.766319069126555e-06" iyy="0.007237252277354292" iyz="0.00014898811458507587" izz="0.001976748372483461"/>
  </inertial>
  <visual>
    <origin rpy="0 0 0" xyz="-0.27 -0.0506 -0.1"/>
    <geometry>
      <mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
    <material name="silver"/>
    <material/>
  </visual>
  <collision>
    <origin rpy="0 0 0" xyz="-0.27 -0.0506 -0.1"/>
    <geometry>
      <mesh filename="meshes/Foot_v4_2.stl" scale="0.001 0.001 0.001"/>
    </geometry>
  </collision>
</link>

<joint name="Rev1" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 0.912 0.1"/>
  <parent link="base_link"/>
  <child link="Pelvis_v7_1"/>
  <axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev1_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev1">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev1_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev2" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 0.075 -0.0375"/>
  <parent link="Pelvis_v7_1"/>
  <child link="Chest_v13_1"/>
  <axis xyz="-0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev2_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev2">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev2_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev11" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 0.5664 0.0375"/>
  <parent link="Chest_v13_1"/>
  <child link="Box_Head_v5_1"/>
  <axis xyz="0.0 1.0 -0.0"/>
</joint>
<transmission name="Rev11_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev11">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev11_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev3" type="continuous">
  <origin rpy="0 0 0" xyz="-0.275 0.5164 0.0375"/>
  <parent link="Chest_v13_1"/>
  <child link="Upper_Arm_Link_type_b_v9_1"/>
  <axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev3_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev3">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev3_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev4" type="continuous">
  <origin rpy="0 0 0" xyz="-0.075 -0.0125 -0.05"/>
  <parent link="Upper_Arm_Link_type_b_v9_1"/>
  <child link="Upper_Arm_Roll_Link_v5_1"/>
  <axis xyz="0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev4_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev4">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev4_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev5" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.05635 0.05"/>
  <parent link="Upper_Arm_Roll_Link_v5_1"/>
  <child link="Upper_Arm_v10_1"/>
  <axis xyz="-0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev5_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev5">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev5_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev6" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.3675 0.05"/>
  <parent link="Upper_Arm_v10_1"/>
  <child link="Lower_Arm_v8_1"/>
  <axis xyz="0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev6_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev6">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev6_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev7" type="continuous">
  <origin rpy="0 0 0" xyz="0.275 0.5164 0.0375"/>
  <parent link="Chest_v13_1"/>
  <child link="Upper_Arm_Link_type_b_v9_2"/>
  <axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev7_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev7">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev7_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev8" type="continuous">
  <origin rpy="0 0 0" xyz="0.075 -0.0125 -0.05"/>
  <parent link="Upper_Arm_Link_type_b_v9_2"/>
  <child link="Upper_Arm_Roll_Link_v5_2"/>
  <axis xyz="0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev8_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev8">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev8_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev9" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.05635 0.05"/>
  <parent link="Upper_Arm_Roll_Link_v5_2"/>
  <child link="Upper_Arm_v10_3"/>
  <axis xyz="0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev9_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev9">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev9_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev10" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.3675 -0.05"/>
  <parent link="Upper_Arm_v10_3"/>
  <child link="Lower_Arm_v8_2"/>
  <axis xyz="-0.0 0.0 1.0"/>
</joint>
<transmission name="Rev10_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev10">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev10_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev12" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 0.812 0.1"/>
  <parent link="base_link"/>
  <child link="Leg_Pitch_v5_1"/>
  <axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev12_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev12">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev12_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev13" type="continuous">
  <origin rpy="0 0 0" xyz="-0.05 0.0 -0.075"/>
  <parent link="Leg_Pitch_v5_1"/>
  <child link="Leg_Roll_v4_1"/>
  <axis xyz="0.0 0.0 -1.0"/>
</joint>
<transmission name="Rev13_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev13">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev13_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev14" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.075 0.075"/>
  <parent link="Leg_Roll_v4_1"/>
  <child link="Upper_Leg_v4_1"/>
  <axis xyz="0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev14_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev14">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev14_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev15" type="continuous">
  <origin rpy="0 0 0" xyz="-0.05 -0.2982 0.0"/>
  <parent link="Upper_Leg_v4_1"/>
  <child link="Lower_Leg_v6_1"/>
  <axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev15_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev15">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev15_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev16" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 -0.3532 -0.03"/>
  <parent link="Lower_Leg_v6_1"/>
  <child link="Ankle_Link_v5_1"/>
  <axis xyz="-0.0 0.0 1.0"/>
</joint>
<transmission name="Rev16_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev16">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev16_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev19" type="continuous">
  <origin rpy="0 0 0" xyz="-0.02 -0.035 0.03"/>
  <parent link="Ankle_Link_v5_1"/>
  <child link="Foot_v4_1"/>
  <axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev19_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev19">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev19_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev20" type="continuous">
  <origin rpy="0 0 0" xyz="0.2 0.812 0.1"/>
  <parent link="base_link"/>
  <child link="Leg_Pitch_v5_2"/>
  <axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev20_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev20">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev20_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev21" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 0.0 -0.075"/>
  <parent link="Leg_Pitch_v5_2"/>
  <child link="Leg_Roll_v4_2"/>
  <axis xyz="-0.0 -0.0 -1.0"/>
</joint>
<transmission name="Rev21_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev21">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev21_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev22" type="continuous">
  <origin rpy="0 0 0" xyz="0.0 -0.075 0.075"/>
  <parent link="Leg_Roll_v4_2"/>
  <child link="Upper_Leg_v4_2"/>
  <axis xyz="0.0 -1.0 0.0"/>
</joint>
<transmission name="Rev22_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev22">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev22_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev23" type="continuous">
  <origin rpy="0 0 0" xyz="0.05 -0.2982 0.0"/>
  <parent link="Upper_Leg_v4_2"/>
  <child link="Lower_Leg_v6_2"/>
  <axis xyz="-1.0 0.0 0.0"/>
</joint>
<transmission name="Rev23_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev23">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev23_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev24" type="continuous">
  <origin rpy="0 0 0" xyz="-0.05 -0.3532 -0.03"/>
  <parent link="Lower_Leg_v6_2"/>
  <child link="Ankle_Link_v5_2"/>
  <axis xyz="-0.0 0.0 1.0"/>
</joint>
<transmission name="Rev24_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev24">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev24_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

<joint name="Rev25" type="continuous">
  <origin rpy="0 0 0" xyz="0.02 -0.035 0.03"/>
  <parent link="Ankle_Link_v5_2"/>
  <child link="Foot_v4_2"/>
  <axis xyz="1.0 -0.0 -0.0"/>
</joint>
<transmission name="Rev25_tran">
  <type>transmission_interface/SimpleTransmission</type>
  <joint name="Rev25">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
  </joint>
  <actuator name="Rev25_actr">
    <hardwareInterface>PositionJointInterface</hardwareInterface>
    <mechanicalReduction>1</mechanicalReduction>
  </actuator>
</transmission>

</robot>
