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      <inertia ixx="0.0014428" ixy="0" ixz="0" iyy="0.001606" iyz="0" izz="0.00150135"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.38" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/LLEG_LINK4.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.38" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/LLEG_LINK4.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="LLEG_LINK5">
    <inertial>
      <origin xyz="0.00064 0.00264 -0.05633" rpy="0 0 0"/>
      <mass value="1.552"/>
      <inertia ixx="0.00442296" ixy="0" ixz="0" iyy="0.00907896" iyz="0" izz="0.00902826"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.04" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/LLEG_LINK5.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.04" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/LLEG_LINK5.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RLEG_LINK0">
    <inertial>
      <origin xyz="-0.02299 0.00588 -0.07031" rpy="0 0 0"/>
      <mass value="2.915"/>
      <inertia ixx="0.00999808" ixy="-0.00000199354" ixz="-0.000000722147" iyy="0.00999559" iyz="-0.00000313302" izz="0.00999172"/>
    </inertial>
    <visual>
      <origin xyz="0 -0.1 0.0095" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK0.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 -0.1 0.0095" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK0.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RLEG_LINK1">
    <inertial>
      <origin xyz="-0.00441 -0.00696 -0.00694" rpy="0 0 0"/>
      <mass value="1.199"/>
      <inertia ixx="0.00299879" ixy="0.000000000000000000000000000000000000330504" ixz="0.0000000000000000000970868" iyy="0.00179963" iyz="-0.000000000000000000000000000000000000451014" izz="0.00343603"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.122" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK1.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.122" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK1.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RLEG_LINK2">
    <inertial>
      <origin xyz="0.00658 -0.03431 -0.18864" rpy="0 0 0"/>
      <mass value="5.783"/>
      <inertia ixx="0.109779" ixy="-0.0002015" ixz="0.00500356" iyy="0.109973" iyz="0.00331032" izz="0.0103577"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.01" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK2.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.01" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK2.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RLEG_LINK3">
    <inertial>
      <origin xyz="0.0176 -0.01611 -0.17992" rpy="0 0 0"/>
      <mass value="3.156"/>
      <inertia ixx="0.0592962" ixy="0" ixz="0" iyy="0.0592638" iyz="0" izz="0.00799027"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.38" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK3.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.38" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK3.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RLEG_LINK4">
    <inertial>
      <origin xyz="-0.00769 -0.00203 -0.00714" rpy="0 0 0"/>
      <mass value="0.836"/>
      <inertia ixx="0.0014428" ixy="0" ixz="0" iyy="0.001606" iyz="0" izz="0.00150135"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.38" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK4.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.38" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK4.dae"/>
      </geometry>
    </collision>
  </link>
  <link name="RLEG_LINK5">
    <inertial>
      <origin xyz="0.00064 -0.00264 -0.05633" rpy="0 0 0"/>
      <mass value="1.552"/>
      <inertia ixx="0.00442296" ixy="0" ixz="0" iyy="0.00907896" iyz="0" izz="0.00902826"/>
    </inertial>
    <visual>
      <origin xyz="0 0 -0.04" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK5.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 -0.04" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/RLEG_LINK5.dae"/>
      </geometry>
    </collision>
  </link>
  <joint name="CHEST_JOINT0" type="revolute">
    <origin xyz="0.006 0 0.128" rpy="0 0 0"/>
    <parent link="BODY"/>
    <child link="CHEST_LINK0"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.198551" upper="0.198551" effort="787.2" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="CHEST_JOINT1" type="revolute">
    <origin xyz="0 0 0.025" rpy="0 0 0"/>
    <parent link="CHEST_LINK0"/>
    <child link="CHEST_LINK1"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.0349066" upper="0.610865" effort="787.2" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="CHEST_JOINT2" type="revolute">
    <origin xyz="0 0 0.3085" rpy="0 0 0"/>
    <parent link="CHEST_LINK1"/>
    <child link="CHEST_LINK2"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.0566" upper="1.0566" effort="393.6" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="HEAD_JOINT0" type="revolute">
    <origin xyz="-0.015 0 0.0835" rpy="0 0 0"/>
    <parent link="CHEST_LINK2"/>
    <child link="HEAD_LINK0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.575959" upper="0.541052" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="HEAD_JOINT1" type="revolute">
    <origin xyz="0 0 0.102" rpy="0 0 0"/>
    <parent link="HEAD_LINK0"/>
    <child link="HEAD_LINK1"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.575959" upper="0.698132" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RANGE_JOINT" type="continuous">
    <origin xyz="0.0559 0 0.14425" rpy="0 0 0"/>
    <parent link="HEAD_LINK1"/>
    <child link="RANGE_LINK"/>
    <axis xyz="1 0 0"/>
    <limit lower="-3.14159" upper="3.14159" effort="50" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT0" type="revolute">
    <origin xyz="0 0.0875 0" rpy="0 0 0"/>
    <parent link="CHEST_LINK2"/>
    <child link="LARM_LINK0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.4208" upper="0.144751" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT1" type="revolute">
    <origin xyz="0 0.07275 0" rpy="0 0 0"/>
    <parent link="LARM_LINK0"/>
    <child link="LARM_LINK1"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14159" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT2" type="revolute">
    <origin xyz="0 0.057 0" rpy="0 0 0"/>
    <parent link="LARM_LINK1"/>
    <child link="LARM_LINK2"/>
    <axis xyz="1 0 0"/>
    <limit lower="0.2762" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT3" type="revolute">
    <origin xyz="0 0 -0.1965" rpy="0 0 0"/>
    <parent link="LARM_LINK2"/>
    <child link="LARM_LINK3"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT4" type="revolute">
    <origin xyz="0 0 -0.126" rpy="0 0 0"/>
    <parent link="LARM_LINK3"/>
    <child link="LARM_LINK4"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.19006" upper="1.0472" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT5" type="revolute">
    <origin xyz="0 0 -0.1275" rpy="0 0 0"/>
    <parent link="LARM_LINK4"/>
    <child link="LARM_LINK5"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT6" type="revolute">
    <origin xyz="0 0 -0.146" rpy="0 0 0"/>
    <parent link="LARM_LINK5"/>
    <child link="LARM_LINK6"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.54494" upper="1.5708" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_JOINT7" type="revolute">
    <origin xyz="0 0 -0.04" rpy="0 0 0"/>
    <parent link="LARM_LINK6"/>
    <child link="LARM_LINK7"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.41372" upper="1.0472" effort="475.272" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_F_JOINT0" type="revolute">
    <origin xyz="0 -0.06 -0.1725" rpy="0 1.5708 -3.14159"/>
    <parent link="LARM_LINK7"/>
    <child link="LARM_FINGER0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.39626" upper="0.610865" effort="20" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LARM_F_JOINT1" type="revolute">
    <origin xyz="0 0.06 -0.1725" rpy="0 1.5708 -3.14159"/>
    <parent link="LARM_LINK7"/>
    <child link="LARM_FINGER1"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.610865" upper="1.39626" effort="20" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT0" type="revolute">
    <origin xyz="0 -0.0875 0" rpy="0 0 0"/>
    <parent link="CHEST_LINK2"/>
    <child link="RARM_LINK0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.144751" upper="1.4208" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT1" type="revolute">
    <origin xyz="0 -0.07275 0" rpy="0 0 0"/>
    <parent link="RARM_LINK0"/>
    <child link="RARM_LINK1"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.14159" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT2" type="revolute">
    <origin xyz="0 -0.057 0" rpy="0 0 0"/>
    <parent link="RARM_LINK1"/>
    <child link="RARM_LINK2"/>
    <axis xyz="1 0 0"/>
    <limit lower="-3.14159" upper="-0.2762" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT3" type="revolute">
    <origin xyz="0 0 -0.1965" rpy="0 0 0"/>
    <parent link="RARM_LINK2"/>
    <child link="RARM_LINK3"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT4" type="revolute">
    <origin xyz="0 0 -0.126" rpy="0 0 0"/>
    <parent link="RARM_LINK3"/>
    <child link="RARM_LINK4"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.19006" upper="1.0472" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT5" type="revolute">
    <origin xyz="0 0 -0.1275" rpy="0 0 0"/>
    <parent link="RARM_LINK4"/>
    <child link="RARM_LINK5"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.14159" upper="3.14159" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT6" type="revolute">
    <origin xyz="0 0 -0.146" rpy="0 0 0"/>
    <parent link="RARM_LINK5"/>
    <child link="RARM_LINK6"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.5708" upper="1.54494" effort="472.32" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_JOINT7" type="revolute">
    <origin xyz="0 0 -0.04" rpy="0 0 0"/>
    <parent link="RARM_LINK6"/>
    <child link="RARM_LINK7"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.41372" upper="1.0472" effort="475.272" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_F_JOINT0" type="revolute">
    <origin xyz="0 0.06 -0.1725" rpy="0 1.5708 0"/>
    <parent link="RARM_LINK7"/>
    <child link="RARM_FINGER0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.39626" upper="0.610865" effort="20" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RARM_F_JOINT1" type="revolute">
    <origin xyz="0 -0.06 -0.1725" rpy="0 1.5708 0"/>
    <parent link="RARM_LINK7"/>
    <child link="RARM_FINGER1"/>
    <axis xyz="0 0 1"/>
    <limit lower="-0.610865" upper="1.39626" effort="20" velocity="4"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LLEG_JOINT0" type="revolute">
    <origin xyz="0 0.1 0.0095" rpy="0 0 0"/>
    <parent link="BODY"/>
    <child link="LLEG_LINK0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.0972" upper="1.02662" effort="246" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LLEG_JOINT1" type="revolute">
    <origin xyz="0 0 -0.122" rpy="0 0 0"/>
    <parent link="LLEG_LINK0"/>
    <child link="LLEG_LINK1"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.523599" upper="0.725029" effort="393.6" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LLEG_JOINT2" type="revolute">
    <origin xyz="0 0 -0.01" rpy="0 0 0"/>
    <parent link="LLEG_LINK1"/>
    <child link="LLEG_LINK2"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.11843" upper="0.785398" effort="492" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LLEG_JOINT3" type="revolute">
    <origin xyz="0 0 -0.38" rpy="0 0 0"/>
    <parent link="LLEG_LINK2"/>
    <child link="LLEG_LINK3"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="2.77419" effort="492" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LLEG_JOINT4" type="revolute">
    <origin xyz="0 0 -0.38" rpy="0 0 0"/>
    <parent link="LLEG_LINK3"/>
    <child link="LLEG_LINK4"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.38564" upper="1.47343" effort="295.2" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="LLEG_JOINT5" type="revolute">
    <origin xyz="0 0 -0.04" rpy="0 0 0"/>
    <parent link="LLEG_LINK4"/>
    <child link="LLEG_LINK5"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.0472" upper="1.0472" effort="247.537" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RLEG_JOINT0" type="revolute">
    <origin xyz="0 -0.1 0.0095" rpy="0 0 0"/>
    <parent link="BODY"/>
    <child link="RLEG_LINK0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.02662" upper="1.0972" effort="246" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RLEG_JOINT1" type="revolute">
    <origin xyz="0 0 -0.122" rpy="0 0 0"/>
    <parent link="RLEG_LINK0"/>
    <child link="RLEG_LINK1"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.725029" upper="0.523599" effort="393.6" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RLEG_JOINT2" type="revolute">
    <origin xyz="0 0 -0.01" rpy="0 0 0"/>
    <parent link="RLEG_LINK1"/>
    <child link="RLEG_LINK2"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.11843" upper="0.785398" effort="492" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RLEG_JOINT3" type="revolute">
    <origin xyz="0 0 -0.38" rpy="0 0 0"/>
    <parent link="RLEG_LINK2"/>
    <child link="RLEG_LINK3"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="2.77419" effort="492" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RLEG_JOINT4" type="revolute">
    <origin xyz="0 0 -0.38" rpy="0 0 0"/>
    <parent link="RLEG_LINK3"/>
    <child link="RLEG_LINK4"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.38564" upper="1.47343" effort="295.2" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
  <joint name="RLEG_JOINT5" type="revolute">
    <origin xyz="0 0 -0.04" rpy="0 0 0"/>
    <parent link="RLEG_LINK4"/>
    <child link="RLEG_LINK5"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.0472" upper="1.0472" effort="247.537" velocity="17"/>
    <dynamics damping="0.2" friction="0"/>
  </joint>
</robot>
