<robot name="R1">
  <mujoco>
    <compiler meshdir="meshes" discardvisual="false"/>
  </mujoco>

  <!-- <link name="world"></link>
  <joint name="floating_base_joint" type="floating">
    <parent link="world"/>
    <child link="pelvis_link"/>
  </joint> -->

  <link name="pelvis_link">
    <inertial>
      <origin xyz="0.026921 0.000184 -0.070405" rpy="0 0 0"/>
      <mass value="2.24682"/>
      <inertia ixx="0.006461" ixy="5e-06" ixz="3.7e-05" iyy="0.00381" iyz="-1.2e-05" izz="0.006198"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/pelvis_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="left_hip_pitch_link">
    <inertial>
      <origin xyz="-0.003907 0.0415 -0.043716" rpy="0 0 0"/>
      <mass value="0.935482"/>
      <inertia ixx=" 0.001046" ixy="2.2e-05" ixz="-3.1e-05" iyy="0.000943" iyz="0.000145" izz="0.000624"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_pitch_joint" type="revolute">
    <origin xyz="0.0325000000000034 0.0704672446672152 -0.0902350676234607" rpy="-0.436332312998619 0 0"/>
    <parent link="pelvis_link"/>
    <child link="left_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.932153143" upper="2.548180708" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_hip_roll_link">
    <inertial>
      <origin xyz="-0.008002 -0.00206 -0.032798" rpy="0 0 0"/>
      <mass value=" 0.207609"/>
      <inertia ixx="0.000246" ixy="-1.3e-05" ixz="-5.6e-05" iyy="0.000231" iyz="-1e-05" izz="0.000239"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_roll_joint" type="revolute">
    <origin xyz="0.0248000000000053 0.0449999999999981 -0.0530000000000006" rpy="0.436332312998619 0 0"/>
    <parent link="left_hip_pitch_link"/>
    <child link="left_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.047197551" upper="1.745329252" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_hip_yaw_link">
    <inertial>
      <origin xyz="-0.010059 -0.004848 -0.093609" rpy="0 0 0"/>
      <mass value="1.73967"/>
      <inertia ixx="0.008099" ixy=" -0.000112" ixz="-0.001134" iyy="0.008338" iyz="-0.00058" izz="0.001513"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_hip_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_hip_yaw_joint" type="revolute">
    <origin xyz="-0.0194507071014726 -0.000599999999990775 -0.0617999999999937" rpy="0 0 0"/>
    <parent link="left_hip_roll_link"/>
    <child link="left_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.7402" upper="2.7402" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_knee_link">
    <inertial>
      <origin xyz="-0.010632 -0.018101 -0.135947" rpy="0 0 0"/>
      <mass value="2.26585"/>
      <inertia ixx="0.01237" ixy="-4.4e-05" ixz="-0.000238" iyy="0.012604" iyz=" -0.000603" izz=" 0.001907"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_knee_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_knee_joint" type="revolute">
    <origin xyz="-0.0231499999999827 0.0186600000000101 -0.159300730044995" rpy="0 0 0"/>
    <parent link="left_hip_yaw_link"/>
    <child link="left_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.174532925" upper="2.42600766" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_ankle_A_link">
    <inertial>
      <origin xyz="0.002876 0.004712 -0.001192" rpy="0 0 0"/>
      <mass value="0.047549"/>
      <inertia ixx="1.4e-05" ixy="0" ixz="0" iyy="6e-06" iyz="1e-06" izz="9e-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_A_link.STL"/>
      </geometry>
      <material name="A">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_A_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_A_joint" type="fixed">
    <origin xyz="0.0137908367226444 -0.020581073000019 -0.0965262033774272" rpy="0 0.0893608577021168 0"/>
    <parent link="left_knee_link"/>
    <child link="left_ankle_A_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.89675" upper="1.4099" effort="33" velocity="33.4"/>
  </joint>
  <link name="left_ankle_A_rod_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.006909"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_A_rod_link.STL"/>
      </geometry>
      <material name="A">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="left_ankle_A_rod_joint" type="fixed">
    <origin xyz="0.0129999999999986 0.0159961931559284 -0.00404620865977823" rpy="0 0 0"/>
    <parent link="left_ankle_A_link"/>
    <child link="left_ankle_A_rod_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="left_ankle_B_link">
    <inertial>
      <origin xyz="0.002876 -0.004711 -0.001195" rpy="0 0 0"/>
      <mass value="0.047549"/>
      <inertia ixx="1.4e-05" ixy="0" ixz="0" iyy="6e-06" iyz="-1e-06" izz=" 9e-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_B_link.STL"/>
      </geometry>
      <material name="B">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_B_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_B_joint" type="fixed">
    <origin xyz="0.0078562453629065 -0.0205810730000191 -0.162760866676519" rpy="0 0.0893608577021174 0"/>
    <parent link="left_knee_link"/>
    <child link="left_ankle_B_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.3999" upper="0.92328" effort="33" velocity="33.4"/>
  </joint>
  <link name="left_ankle_B_rod_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.006909"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_B_rod_link.STL"/>
      </geometry>
      <material name="B">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="left_ankle_B_rod_joint" type="fixed">
    <origin xyz="0.0129999999999971 -0.0159932565774738 -0.00405780039512127" rpy="0 0 0"/>
    <parent link="left_ankle_B_link"/>
    <child link="left_ankle_B_rod_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="left_ankle_pitch_link">
    <inertial>
      <origin xyz="-0.000104 0 -0.00772" rpy="0 0 0"/>
      <mass value="0.071231"/>
      <inertia ixx="7e-06" ixy="0" ixz="0" iyy="1.2e-05" iyz="0" izz="7e-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
  </link>
  <joint name="left_ankle_pitch_joint" type="revolute">
    <origin xyz="-0.0168138890944356 -0.0205810730000241 -0.309174756016388" rpy="0 0 0"/>
    <parent link="left_knee_link"/>
    <child link="left_ankle_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87266" upper="0.57596" effort="50" velocity="30"/>
  </joint>
  <link name="left_ankle_roll_link">
    <inertial>
      <origin xyz="0.029823 0 -0.033123" rpy="0 0 0"/>
      <mass value="0.473048"/>
      <inertia ixx="0.000232" ixy="0" ixz="8.9e-05" iyy="0.001207" iyz="0" izz="0.001259"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_roll_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="left_ankle_pitch_link"/>
    <child link="left_ankle_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.2618" upper="0.2618" effort="50" velocity="30"/>
  </joint>
  <link name="left_ankle_constraint_A_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.00432"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_constraint_A_link.STL"/>
      </geometry>
      <material name="A">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_constraint_A_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_constraint_A_joint" type="fixed">
    <origin xyz="0.021 0.014 -0.0094" rpy="0 0 0"/>
    <parent link="left_ankle_roll_link"/>
    <child link="left_ankle_constraint_A_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="left_ankle_constraint_B_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.00432"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_constraint_B_link.STL"/>
      </geometry>
      <material name="B">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_ankle_constraint_B_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_ankle_constraint_B_joint" type="fixed">
    <origin xyz="0.021 -0.014 -0.0094" rpy="0 0 0"/>
    <parent link="left_ankle_roll_link"/>
    <child link="left_ankle_constraint_B_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_hip_pitch_link">
    <inertial>
      <origin xyz="-0.003907 -0.0415 -0.043716" rpy="0 0 0"/>
      <mass value="0.935482"/>
      <inertia ixx=" 0.001046" ixy="-2.2e-05" ixz="-3.1e-05" iyy="0.000943" iyz="-0.000145" izz="0.000624"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_pitch_joint" type="revolute">
    <origin xyz="0.0324999999999944 -0.0704672446672271 -0.0902350676234561" rpy="0.436332312998556 0 0"/>
    <parent link="pelvis_link"/>
    <child link="right_hip_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-2.932153143" upper="2.548180708" effort="60" velocity="18.8"/>
  </joint>
  <link name="right_hip_roll_link">
    <inertial>
      <origin xyz="-0.008002 0.00206 -0.032798" rpy="0 0 0"/>
      <mass value=" 0.207609"/>
      <inertia ixx="0.000246" ixy="1.3e-05" ixz="-5.6e-05" iyy="0.000231" iyz="1e-05" izz="0.000239"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_roll_joint" type="revolute">
    <origin xyz="0.0248000000000144 -0.044999999999989 -0.0530000000000113" rpy="-0.436332312998556 0 0"/>
    <parent link="right_hip_pitch_link"/>
    <child link="right_hip_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.745329252" upper="1.047197551" effort="60" velocity="18.8"/>
  </joint>
  <link name="right_hip_yaw_link">
    <inertial>
      <origin xyz="-0.010059 0.004848 -0.093609" rpy="0 0 0"/>
      <mass value="1.73967"/>
      <inertia ixx="0.008099" ixy=" 0.000112" ixz="-0.001134" iyy="0.008338" iyz="0.00058" izz="0.001513"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_hip_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_hip_yaw_joint" type="revolute">
    <origin xyz="-0.0194507071014726 0.000599999999990622 -0.0617999999999935" rpy="0 0 0"/>
    <parent link="right_hip_roll_link"/>
    <child link="right_hip_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.7402" upper="2.7402" effort="60" velocity="18.8"/>
  </joint>
  <link name="right_knee_link">
    <inertial>
      <origin xyz="-0.010632 0.018101 -0.135947" rpy="0 0 0"/>
      <mass value="2.26585"/>
      <inertia ixx="0.01237" ixy="4.4e-05" ixz="-0.000238" iyy="0.012604" iyz=" 0.000603" izz=" 0.001907"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_knee_collision.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_knee_joint" type="revolute">
    <origin xyz="-0.0231499999999827 -0.0186600000000101 -0.159300730044995" rpy="0 0 0"/>
    <parent link="right_hip_yaw_link"/>
    <child link="right_knee_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.17453" upper="2.42600766" effort="60" velocity="18.8"/>
  </joint>
  <link name="right_ankle_A_link">
    <inertial>
      <origin xyz="0.002876 -0.004712 -0.001192" rpy="0 0 0"/>
      <mass value="0.047549"/>
      <inertia ixx="1.4e-05" ixy="0" ixz="0" iyy="6e-06" iyz="-1e-06" izz="9e-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_A_link.STL"/>
      </geometry>
      <material name="A">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_A_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_A_joint" type="fixed">
    <origin xyz="0.0137908367226438 0.0205810730000096 -0.0965262033774182" rpy="0 0.0893608577021168 0"/>
    <parent link="right_knee_link"/>
    <child link="right_ankle_A_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.4099" upper="0.89675" effort="33" velocity="33.4"/>
  </joint>
  <link name="right_ankle_A_rod_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.006909"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_A_rod_link.STL"/>
      </geometry>
      <material name="A">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
  </link>
  <joint name="right_ankle_A_rod_joint" type="fixed">
    <origin xyz="0.0130000000000001 -0.0159961931559189 -0.00404620865978778" rpy="0 0 0"/>
    <parent link="right_ankle_A_link"/>
    <child link="right_ankle_A_rod_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_ankle_B_link">
    <inertial>
      <origin xyz="0.002876 0.004711 -0.001195" rpy="0 0 0"/>
      <mass value="0.047549"/>
      <inertia ixx="1.4e-05" ixy="0" ixz="0" iyy="6e-06" iyz="1e-06" izz=" 9e-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_B_link.STL"/>
      </geometry>
      <material name="B">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_B_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_B_joint" type="fixed">
    <origin xyz="0.00785624536290441 0.0205810730000075 -0.16276086667651" rpy="0 0.0893608577021174 0"/>
    <parent link="right_knee_link"/>
    <child link="right_ankle_B_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.92328" upper="1.3999" effort="33" velocity="33.4"/>
  </joint>
  <link name="right_ankle_B_rod_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.006909"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_B_rod_link.STL"/>
      </geometry>
      <material name="B">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
  </link>
  <joint name="right_ankle_B_rod_joint" type="fixed">
    <origin xyz="0.0130000000000001 0.0159932565774854 -0.00405780039513126" rpy="0 0 0"/>
    <parent link="right_ankle_B_link"/>
    <child link="right_ankle_B_rod_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_ankle_pitch_link">
    <inertial>
      <origin xyz="-0.000104 0 -0.00772" rpy="0 0 0"/>
      <mass value="0.071231"/>
      <inertia ixx="7e-06" ixy="0" ixz="0" iyy="1.2e-05" iyz="0" izz="7e-06"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
  </link>
  <joint name="right_ankle_pitch_joint" type="revolute">
    <origin xyz="-0.016813889094435 0.0205810729999964 -0.309174756016406" rpy="0 0 0"/>
    <parent link="right_knee_link"/>
    <child link="right_ankle_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.87266" upper="0.57596" effort="50" velocity="30"/>
  </joint>
  <link name="right_ankle_roll_link">
    <inertial>
      <origin xyz="0.029823 0 -0.033123" rpy="0 0 0"/>
      <mass value="0.473048"/>
      <inertia ixx="0.000232" ixy="0" ixz="8.9e-05" iyy="0.001207" iyz="0" izz="0.001259"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_roll_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="right_ankle_pitch_link"/>
    <child link="right_ankle_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.261799388" upper="0.261799388" effort="50" velocity="30"/>
  </joint>
  <link name="right_ankle_constraint_A_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.00432"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_constraint_A_link.STL"/>
      </geometry>
      <material name="A">
        <color rgba="1 0 0 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_constraint_A_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_constraint_A_joint" type="fixed">
    <origin xyz="0.021 -0.014 -0.0094" rpy="0 0 0"/>
    <parent link="right_ankle_roll_link"/>
    <child link="right_ankle_constraint_A_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="right_ankle_constraint_B_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.00432"/>
      <inertia ixx="1e-11" ixy="0" ixz="0" iyy="1e-11" iyz="0" izz="1e-11"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_constraint_B_link.STL"/>
      </geometry>
      <material name="B">
        <color rgba="0 0 1 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_ankle_constraint_B_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_ankle_constraint_B_joint" type="fixed">
    <origin xyz="0.021 0.014 -0.0094" rpy="0 0 0"/>
    <parent link="right_ankle_roll_link"/>
    <child link="right_ankle_constraint_B_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>
  <link name="imu_in_pelvis_link">
    <inertial>
      <origin xyz="-0.001988 0.000572 0.014086" rpy="0 0 0"/>
      <mass value="0.00319"/>
      <inertia ixx="7.6e-07" ixy="0" ixz="0" iyy="3.9e-07" iyz="0" izz="3.8e-07"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/imu_in_pelvis_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/imu_in_pelvis_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="imu_in_pelvis_joint" type="fixed">
    <origin xyz="0.0762024823417637 2.19914456711555E-05 -0.0884314643766222" rpy="0 0 0"/>
    <parent link="pelvis_link"/>
    <child link="imu_in_pelvis_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="0" upper="0" effort="0" velocity="0"/>
  </joint>


  <!-- torso and arms -->
  <link name="waist_roll_link">
    <inertial>
      <origin xyz="0.030601 0 0.004788" rpy="0 0 0"/>
      <mass value="0.920736"/>
      <inertia ixx="0.000806" ixy="0" ixz="1e-06" iyy=" 0.000734" iyz="0" izz="0.000678"/>
    </inertial>
    <visual>
      <origin xyz="0.0325 0 0.049" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0.0325 0 0.049" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="waist_roll_joint" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="pelvis_link"/>
    <child link="waist_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.5236" upper="0.5236" effort="60" velocity="18.8"/>
  </joint>
  <link name="waist_yaw_link">
    <inertial>
      <origin xyz="-0.000648 -0.000052  0.144497" rpy="0 0 0"/>
      <mass value="6.024198"/>
      <inertia ixx="0.060949" ixy="-0.000060" ixz="0.001044" iyy="0.050645" iyz="-0.000164" izz="0.024602"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_yaw_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/waist_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="waist_yaw_joint" type="revolute">
    <origin xyz="0.0325 0 0.049" rpy="0 0 0"/>
    <parent link="waist_roll_link"/>
    <child link="waist_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.618" upper="2.618" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_shoulder_pitch_link">
    <inertial>
      <origin xyz="0.00294386 0.04476868 -0.02286868" rpy="0 0 0"/>
      <mass value="0.83794992"/>
      <inertia ixx="0.00066072" ixy="-0.00000492" ixz="0.00001580" iyy="0.00060170" iyz="0.00005557" izz="0.00057741"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_pitch_joint" type="revolute">
    <origin xyz="0 0.085688 0.19749" rpy="0.26187 0 0"/>
    <parent link="waist_yaw_link"/>
    <child link="left_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.1416" upper="2.0944" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_shoulder_roll_link">
    <inertial>
      <origin xyz="-0.037828 0.003967 -0.066496" rpy="0 0 0"/>
      <mass value="0.740212"/>
      <inertia ixx="0.000971" ixy="-0.000004" ixz="0.000101" iyy="0.001089" iyz="0.000022" izz="0.000573"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_roll_joint" type="revolute">
    <origin xyz="0.03445 0.047132 -0.025693" rpy="-0.26187 0 0"/>
    <parent link="left_shoulder_pitch_link"/>
    <child link="left_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-0.22689" upper="2.4784" effort="60" velocity="18.8"/>
  </joint>
  <link name="left_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.013143 -0.004355 -0.072948" rpy="0 0 0"/>
      <mass value="0.738441"/>
      <inertia ixx="0.000829" ixy="0.000015" ixz="0.000108" iyy="0.000852" iyz="-0.000035" izz="0.000469"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_shoulder_yaw_joint" type="revolute">
    <origin xyz="-0.03445 0.0043 -0.10835" rpy="0 0 0"/>
    <parent link="left_shoulder_roll_link"/>
    <child link="left_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.9199" upper="1.9199" effort="33" velocity="33.4"/>
  </joint>
  <link name="left_elbow_link">
    <inertial>
      <origin xyz="0.072371  -0.024612 -0.011566" rpy="0 0 0"/>
      <mass value="0.759419"/>
      <inertia ixx="0.000550" ixy="0.000179" ixz="0.000030" iyy="0.000892" iyz="-0.000017" izz="0.000936"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_elbow_joint" type="revolute">
    <origin xyz="0.016191 0.026461 -0.082858" rpy="0 0 0"/>
    <parent link="left_shoulder_yaw_link"/>
    <child link="left_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.97564" upper="2.1852" effort="33" velocity="33.4"/>
  </joint>
  <link name="left_wrist_roll_link">
    <inertial>
      <origin xyz="0.068045 -0.001688 0.001392" rpy="0 0 0"/>
      <mass value="0.324767"/>
      <inertia ixx="0.000158" ixy="0.000023" ixz="-0.000010" iyy="0.000716" iyz="0.000004" izz="0.000705"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/left_wrist_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="left_wrist_roll_joint" type="revolute">
    <origin xyz="0.11218 -0.03002 -0.011702" rpy="0 0 0"/>
    <parent link="left_elbow_link"/>
    <child link="left_wrist_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.9199" upper="1.9199" effort="33" velocity="33.4"/>
  </joint>
  <link name="right_shoulder_pitch_link">
    <inertial>
      <origin xyz="0.00294386 -0.04476868 -0.02286868" rpy="0 0 0"/>
      <mass value="0.83794992"/>
      <inertia ixx="0.00066072" ixy="0.00000492" ixz="0.00001580" iyy="0.00060170" iyz="-0.00005557" izz="0.00057741"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_pitch_joint" type="revolute">
    <origin xyz="0 -0.085688 0.19749" rpy="-0.26187 0 0"/>
    <parent link="waist_yaw_link"/>
    <child link="right_shoulder_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-3.1416" upper="2.0944" effort="60" velocity="18.8"/>
  </joint>
  <link name="right_shoulder_roll_link">
    <inertial>
      <origin xyz="-0.037828 -0.003967 -0.066496" rpy="0 0 0"/>
      <mass value="0.740212"/>
      <inertia ixx="0.000971" ixy="0.000004" ixz="0.000101" iyy="0.001089" iyz="-0.000022" izz="0.000573"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_roll_joint" type="revolute">
    <origin xyz="0.03445 -0.047132 -0.025693" rpy="0.26187 0 0"/>
    <parent link="right_shoulder_pitch_link"/>
    <child link="right_shoulder_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-2.47849" upper="0.2268" effort="60" velocity="18.8"/>
  </joint>
  <link name="right_shoulder_yaw_link">
    <inertial>
      <origin xyz="0.013143 0.004355 -0.072948" rpy="0 0 0"/>
      <mass value="0.738441"/>
      <inertia ixx="0.000829" ixy="-0.000015" ixz="0.000108" iyy="0.000852" iyz="0.000035" izz="0.000469"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_shoulder_yaw_joint" type="revolute">
    <origin xyz="-0.03445 -0.0043 -0.10835" rpy="0 0 0"/>
    <parent link="right_shoulder_roll_link"/>
    <child link="right_shoulder_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-1.9199" upper="1.9199" effort="33" velocity="33.4"/>
  </joint>
  <link name="right_elbow_link">
    <inertial>
      <origin xyz="0.072371  0.024612 -0.011566" rpy="0 0 0"/>
      <mass value="0.759419"/>
      <inertia ixx="0.000550" ixy="-0.000179" ixz="0.000030" iyy="0.000892" iyz="0.000017" izz="0.000936"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_elbow_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_elbow_joint" type="revolute">
    <origin xyz="0.016191 -0.026461 -0.082858" rpy="0 0 0"/>
    <parent link="right_shoulder_yaw_link"/>
    <child link="right_elbow_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.97564" upper="2.1852" effort="33" velocity="33.4"/>
  </joint>
  <link name="right_wrist_roll_link">
    <inertial>
      <origin xyz="0.068045 0.001688 0.001392" rpy="0 0 0"/>
      <mass value="0.324767"/>
      <inertia ixx="0.000158" ixy="-0.000023" ixz="-0.000010" iyy="0.000716" iyz="-0.000004" izz="0.000705"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_roll_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/right_wrist_roll_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="right_wrist_roll_joint" type="revolute">
    <origin xyz="0.11218 0.03002 -0.011702" rpy="0 0 0"/>
    <parent link="right_elbow_link"/>
    <child link="right_wrist_roll_link"/>
    <axis xyz="1 0 0"/>
    <limit lower="-1.9199" upper="1.9199" effort="33" velocity="33.4"/>
  </joint>
  <link name="head_pitch_link">
    <inertial>
      <origin xyz="-0.00059489 -0.03725763 0.05301107" rpy="0 0 0"/>
      <mass value="0.39234316"/>
      <inertia ixx="0.00100970" ixy="0.00000093" ixz="0.00001679" iyy="0.00090268" iyz="-0.00014410" izz="0.00031134"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_pitch_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_pitch_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_pitch_joint" type="revolute">
    <origin xyz="-0.006 0.03155 0.255" rpy="0 0 0"/>
    <parent link="waist_yaw_link"/>
    <child link="head_pitch_link"/>
    <axis xyz="0 1 0"/>
    <limit lower="-0.62832" upper="0.62832" effort="33" velocity="33.4"/>
  </joint>
  <link name="head_yaw_link">
    <inertial>
      <origin xyz="0.01528363  0.00011624 -0.00435893" rpy="0 0 0"/>
      <mass value="0.92216186"/>
      <inertia ixx="0.00187133" ixy="0.00000454" ixz="0.00021689" iyy="0.00230884" iyz="0.00000918" izz="0.00208523"/>
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_yaw_link.STL"/>
      </geometry>
      <material name="blue">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="meshes/head_yaw_link.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="head_yaw_joint" type="revolute">
    <origin xyz="0.0010126 -0.03155 0.1165" rpy="0 0 0"/>
    <parent link="head_pitch_link"/>
    <child link="head_yaw_link"/>
    <axis xyz="0 0 1"/>
    <limit lower="-2.0071" upper="2.0071" effort="0.86" velocity="11"/>
  </joint>
</robot>