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humanSubject02_66dof.urdf
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humanSubject02_66dof.urdf
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<!--URDF MODEL 66 DoFs-->
<robot name="XSensStyleModel_template">
<material name="color">
<color rgba="0.1 0.1 0.1 1"/>
</material>
<!--To open this model with Gazebo replace the null masses, inertias and dimensions of the 'fake links f1 and f2'-->
<!--LINKS-->
<!--Link base (1)-->
<link name="Pelvis">
<inertial>
<mass value="6.352"/>
<!--COM origin wrt pHipOrigin-->
<origin xyz="0 0 0.062435" rpy="0 0 0" />
<inertia ixx="0.064101" iyy="0.023834" izz="0.07276" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt pHipOrigin-->
<origin xyz="0 0 0.062435" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.32675 0.11973"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt pHipOrigin-->
<origin xyz="0 0 0.062435" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.32675 0.11973"/>
</geometry>
</collision>
</link>
<!--Chain from (2) to (7)-->
<link name="L5_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="L5_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="L5">
<inertial>
<mass value="8.0988"/>
<!--COM origin wrt jL5S1-->
<origin xyz="0 0 0.043965" rpy="0 0 0" />
<inertia ixx="0.034135" iyy="0.025932" izz="0.049631" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin origin wrt jL5S1-->
<origin xyz="0 0 0.043965" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.20699 0.08793"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin origin wrt jL5S1-->
<origin xyz="0 0 0.043965" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.20699 0.08793"/>
</geometry>
</collision>
</link>
<link name="L3_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="L3_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="L3">
<inertial>
<mass value="8.0988"/>
<!--COM origin wrt jL4L3-->
<origin xyz="0 0 0.039709" rpy="0 0 0" />
<inertia ixx="0.033174" iyy="0.024971" izz="0.049631" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin origin wrt jL4L3-->
<origin xyz="0 0 0.039709" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.20699 0.079417"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin origin wrt jL4L3-->
<origin xyz="0 0 0.039709" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.20699 0.079417"/>
</geometry>
</collision>
</link>
<link name="T12_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="T12_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="T12">
<inertial>
<mass value="8.0988"/>
<!--COM origin wrt jL1T12-->
<origin xyz="0 0 0.039709" rpy="0 0 0" />
<inertia ixx="0.033174" iyy="0.024971" izz="0.049631" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin origin wrt jL1T12-->
<origin xyz="0 0 0.039709" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.20699 0.079417"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin origin wrt jL1T12-->
<origin xyz="0 0 0.039709" rpy="0 0 0" />
<geometry>
<box size="0.17519 0.20699 0.079417"/>
</geometry>
</collision>
</link>
<link name="T8_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="T8_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="T8">
<inertial>
<mass value="3.176"/>
<!--COM origin wrt jT9T8-->
<origin xyz="0 0 0.056134" rpy="0 0 0" />
<inertia ixx="0.0041415" iyy="0.0080363" izz="0.0055061" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jT9T8-->
<origin xyz="0 0 0.056134" rpy="0 0 0" />
<geometry>
<box size="0.13327 0.055172 0.11227"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jT9T8-->
<origin xyz="0 0 0.056134" rpy="0 0 0" />
<geometry>
<box size="0.13327 0.055172 0.11227"/>
</geometry>
</collision>
</link>
<link name="Neck_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="Neck_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="Neck">
<inertial>
<mass value="0.9528"/>
<!--COM origin wrt jT1C7-->
<origin xyz="0 0 0.052133" rpy="0 0 0" />
<inertia ixx="0.0011087" iyy="0.0011087" izz="0.00049098" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jT1C7-->
<origin xyz="0 0 0.052133" rpy="0 0 0" />
<geometry>
<cylinder length="0.10427" radius="0.016051"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jT1C7-->
<origin xyz="0 0 0.052133" rpy="0 0 0" />
<geometry>
<cylinder length="0.10427" radius="0.016051"/>
</geometry>
</collision>
</link>
<link name="Head_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="Head_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="Head">
<inertial>
<mass value="2.8584"/>
<!--COM origin wrt jC1Head-->
<origin xyz="0 0 0.11223" rpy="0 0 0" />
<inertia ixx="0.0144" iyy="0.0144" izz="0.0144" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--boc origin wrt jC1Head-->
<origin xyz="0 0 0.11223" rpy="0 0 0" />
<geometry>
<sphere radius="0.11223"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jC1Head-->
<origin xyz="0 0 0.11223" rpy="0 0 0" />
<geometry>
<sphere radius="0.11223"/>
</geometry>
</collision>
</link>
<!--Chain from (8) to (11)-->
<link name="RightShoulder_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightShoulder_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightShoulder">
<inertial>
<mass value="2.4614"/>
<!--COM origin wrt jRightC7Shoulder-->
<origin xyz="0 -0.073328 0" rpy="0 0 0" />
<inertia ixx="0.0048377" iyy="0.0008521" izz="0.0048377" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightC7Shoulder. RPY rotated of pi/2.-->
<origin xyz="0 -0.073328 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.14666" radius="0.026313"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightC7Shoulder. RPY rotated of pi/2.-->
<origin xyz="0 -0.073328 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.14666" radius="0.026313"/>
</geometry>
</collision>
</link>
<link name="RightUpperArm_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightUpperArm_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightUpperArm">
<inertial>
<mass value="2.382"/>
<!--COM origin wrt jRightShoulder-->
<origin xyz="0 -0.1369 0" rpy="0 0 0" />
<inertia ixx="0.015417" iyy="0.0010729" izz="0.015417" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightShoulder. RPY rotated of pi/2.-->
<origin xyz="0 -0.1369 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.27379" radius="0.030014"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightShoulder. RPY rotated of pi/2.-->
<origin xyz="0 -0.1369 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.27379" radius="0.030014"/>
</geometry>
</collision>
</link>
<link name="RightForeArm_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightForeArm_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightForeArm">
<inertial>
<mass value="1.588"/>
<!--COM origin wrt jRightElbow-->
<origin xyz="0 -0.11359 0" rpy="0 0 0" />
<inertia ixx="0.0069888" iyy="0.0003179" izz="0.0069888" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightElbow. RPY rotated of pi/2.-->
<origin xyz="0 -0.11359 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.22718" radius="0.020009"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightElbow. RPY rotated of pi/2.-->
<origin xyz="0 -0.11359 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.22718" radius="0.020009"/>
</geometry>
</collision>
</link>
<link name="RightHand_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightHand_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightHand">
<inertial>
<mass value="0.4764"/>
<!--COM origin wrt jRightWrist-->
<origin xyz="0 -0.086009 0" rpy="0 0 0" />
<inertia ixx="0.0012383" iyy="0.00058568" izz="0.0016968" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightWrist-->
<origin xyz="0 -0.086009 0" rpy="0 0 0" />
<geometry>
<box size="0.11468 0.17202 0.040019"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightWrist-->
<origin xyz="0 -0.086009 0" rpy="0 0 0" />
<geometry>
<box size="0.11468 0.17202 0.040019"/>
</geometry>
</collision>
</link>
<link name="RightHandCOM">
<inertial>
<mass value="0.00001"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightWrist-->
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0 0 0"/>
</geometry>
<material name="color"/>
</visual>
</link>
<!--Chain from (12) to (15)-->
<link name="LeftShoulder_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftShoulder_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftShoulder">
<inertial>
<mass value="2.4614"/>
<!--COM origin wrt jLeftC7Shoulder-->
<origin xyz="0 0.073328 0" rpy="0 0 0" />
<inertia ixx="0.0048377" iyy="0.0008521" izz="0.0048377" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftC7Shoulder. RPY rotated of pi/2.-->
<origin xyz="0 0.073328 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.14666" radius="0.026313"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftC7Shoulder. RPY rotated of pi/2.-->
<origin xyz="0 0.073328 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.14666" radius="0.026313"/>
</geometry>
</collision>
</link>
<link name="LeftUpperArm_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftUpperArm_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftUpperArm">
<inertial>
<mass value="2.382"/>
<!--COM origin wrt jLeftShoulder-->
<origin xyz="0 0.1369 0" rpy="0 0 0" />
<inertia ixx="0.015417" iyy="0.0010729" izz="0.015417" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftShoulder. RPY rotated of pi/2.-->
<origin xyz="0 0.1369 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.27379" radius="0.030014"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftShoulder. RPY rotated of pi/2.-->
<origin xyz="0 0.1369 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.27379" radius="0.030014"/>
</geometry>
</collision>
</link>
<link name="LeftForeArm_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftForeArm_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftForeArm">
<inertial>
<mass value="1.588"/>
<!--COM origin wrt jLeftElbow-->
<origin xyz="0 0.11359 0" rpy="0 0 0" />
<inertia ixx="0.0069888" iyy="0.0003179" izz="0.0069888" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftElbow. RPY rotated of pi/2.-->
<origin xyz="0 0.11359 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.22718" radius="0.020009"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftElbow. RPY rotated of pi/2.-->
<origin xyz="0 0.11359 0" rpy="1.5708 0 0" />
<geometry>
<cylinder length="0.22718" radius="0.020009"/>
</geometry>
</collision>
</link>
<link name="LeftHand_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftHand_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftHand">
<inertial>
<mass value="0.4764"/>
<!--COM origin wrt jLeftWrist-->
<origin xyz="0 0.086009 0" rpy="0 0 0" />
<inertia ixx="0.0012383" iyy="0.00058568" izz="0.0016968" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--COM origin wrt jLeftWrist-->
<origin xyz="0 0.086009 0" rpy="0 0 0" />
<geometry>
<box size="0.11468 0.17202 0.040019"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--COM origin wrt jLeftWrist-->
<origin xyz="0 0.086009 0" rpy="0 0 0" />
<geometry>
<box size="0.11468 0.17202 0.040019"/>
</geometry>
</collision>
</link>
<link name="LeftHandCOM">
<inertial>
<mass value="0.00001"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--COM origin wrt jLeftWrist-->
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0 0 0"/>
</geometry>
<material name="color"/>
</visual>
</link>
<!--Chain from (16) to (19)-->
<link name="RightUpperLeg_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightUpperLeg_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightUpperLeg">
<inertial>
<mass value="9.925"/>
<!--COM origin wrt jRightHip-->
<origin xyz="0 0 -0.23901" rpy="0 0 0" />
<inertia ixx="0.19802" iyy="0.19802" izz="0.018047" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightHip-->
<origin xyz="0 0 -0.23901" rpy="0 0 0" />
<geometry>
<cylinder length="0.47802" radius="0.060305"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightHip-->
<origin xyz="0 0 -0.23901" rpy="0 0 0" />
<geometry>
<cylinder length="0.47802" radius="0.060305"/>
</geometry>
</collision>
</link>
<link name="RightLowerLeg_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightLowerLeg_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightLowerLeg">
<inertial>
<mass value="2.8981"/>
<!--COM origin wrt jRightKnee-->
<origin xyz="0 0 -0.20089" rpy="0 0 0" />
<inertia ixx="0.039987" iyy="0.039987" izz="0.0019991" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightKnee-->
<origin xyz="0 0 -0.20089" rpy="0 0 0" />
<geometry>
<cylinder length="0.40179" radius="0.037143"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightKnee-->
<origin xyz="0 0 -0.20089" rpy="0 0 0" />
<geometry>
<cylinder length="0.40179" radius="0.037143"/>
</geometry>
</collision>
</link>
<link name="RightFoot_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightFoot_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightFoot">
<inertial>
<mass value="1.0322"/>
<!--COM origin wrt jRightAnkle-->
<origin xyz="0.057127 0 -0.039048" rpy="0 0 0" />
<inertia ixx="0.0009993" iyy="0.0036296" izz="0.0035796" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightAnkle-->
<origin xyz="0.057127 0 -0.039048" rpy="0 0 0" />
<geometry>
<box size="0.18999 0.074286 0.078097"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightAnkle-->
<origin xyz="0.057127 0 -0.039048" rpy="0 0 0" />
<geometry>
<box size="0.18999 0.074286 0.078097"/>
</geometry>
</collision>
</link>
<link name="RightToe_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightToe_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="RightToe">
<inertial>
<mass value="0.1191"/>
<!--COM origin wrt jRightBallFoot-->
<origin xyz="0.035003 0 0" rpy="0 0 0" />
<inertia ixx="5.7319e-05" iyy="5.119e-05" izz="0.00010341" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jRightBallFoot-->
<origin xyz="0.035003 0 0" rpy="0 0 0" />
<geometry>
<box size="0.070006 0.074286 0.016026"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jRightBallFoot-->
<origin xyz="0.035003 0 0" rpy="0 0 0" />
<geometry>
<box size="0.070006 0.074286 0.016026"/>
</geometry>
</collision>
</link>
<!--Chain from (20) to (23)-->
<link name="LeftUpperLeg_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftUpperLeg_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftUpperLeg">
<inertial>
<mass value="9.925"/>
<!--COM origin wrt jLeftHip-->
<origin xyz="0 0 -0.23901" rpy="0 0 0" />
<inertia ixx="0.19802" iyy="0.19802" izz="0.018047" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftHip-->
<origin xyz="0 0 -0.23901" rpy="0 0 0" />
<geometry>
<cylinder length="0.47802" radius="0.060305"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftHip-->
<origin xyz="0 0 -0.23901" rpy="0 0 0" />
<geometry>
<cylinder length="0.47802" radius="0.060305"/>
</geometry>
</collision>
</link>
<link name="LeftLowerLeg_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftLowerLeg_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftLowerLeg">
<inertial>
<mass value="2.8981"/>
<!--COM origin wrt jLeftKnee-->
<origin xyz="0 0 -0.20089" rpy="0 0 0" />
<inertia ixx="0.039987" iyy="0.039987" izz="0.0019991" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftKnee-->
<origin xyz="0 0 -0.20089" rpy="0 0 0" />
<geometry>
<cylinder length="0.40179" radius="0.037143"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftKnee-->
<origin xyz="0 0 -0.20089" rpy="0 0 0" />
<geometry>
<cylinder length="0.40179" radius="0.037143"/>
</geometry>
</collision>
</link>
<link name="LeftFoot_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftFoot_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftFoot">
<inertial>
<mass value="1.0322"/>
<!--COM origin wrt jLeftAnkle-->
<origin xyz="0.057127 0 -0.039048" rpy="0 0 0" />
<inertia ixx="0.0009993" iyy="0.0036296" izz="0.0035796" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftAnkle-->
<origin xyz="0.057127 0 -0.039048" rpy="0 0 0" />
<geometry>
<box size="0.18999 0.074286 0.078097"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftAnkle-->
<origin xyz="0.057127 0 -0.039048" rpy="0 0 0" />
<geometry>
<box size="0.18999 0.074286 0.078097"/>
</geometry>
</collision>
</link>
<link name="LeftToe_f1">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftToe_f2">
<inertial>
<mass value="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
</inertial>
</link>
<link name="LeftToe">
<inertial>
<mass value="0.1191"/>
<!--COM origin wrt jLeftBallFoot-->
<origin xyz="0.035003 0 0" rpy="0 0 0" />
<inertia ixx="5.7319e-05" iyy="5.119e-05" izz="0.00010341" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<!--box origin wrt jLeftBallFoot-->
<origin xyz="0.035003 0 0" rpy="0 0 0" />
<geometry>
<box size="0.070006 0.074286 0.016026"/>
</geometry>
<material name="color"/>
</visual>
<collision>
<!--box origin wrt jLeftBallFoot-->
<origin xyz="0.035003 0 0" rpy="0 0 0" />
<geometry>
<box size="0.070006 0.074286 0.016026"/>
</geometry>
</collision>
</link>
<!--JOINTS-->
<!--Chain from (2) to (7)-->
<joint name="jL5S1_rotx" type="revolute">
<origin xyz="-0.000525 0 0.1223" rpy="0 0 0"/>
<parent link="Pelvis"/>
<child link="L5_f1"/>
<dynamics damping="0.1" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
<axis xyz="1 0 0" />
</joint>
<joint name="jL5S1_roty" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="L5_f1"/>
<child link="L5_f2"/>
<dynamics damping="0.1" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
<axis xyz="0 1 0" />
</joint>
<joint name="jL5S1_rotz" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="L5_f2"/>
<child link="L5"/>
<dynamics damping="0.1" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
<axis xyz="0 0 1" />
</joint>
<joint name="jL4L3_rotx" type="revolute">
<origin xyz="0.000953 0 0.08793" rpy="0 0 0"/>
<parent link="L5"/>
<child link="L3_f1"/>
<dynamics damping="0.1" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
<axis xyz="1 0 0" />
</joint>
<joint name="jL4L3_roty" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="L3_f1"/>
<child link="L3_f2"/>
<dynamics damping="0.1" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
<axis xyz="0 1 0" />
</joint>
<joint name="jL4L3_rotz" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="L3_f2"/>
<child link="L3"/>
<dynamics damping="0.1" friction="0.0"/>
<limit effort="30" velocity="1.0" lower="-10.0" upper="10.0" />
<axis xyz="0 0 1" />
</joint>
<joint name="jL1T12_rotx" type="revolute">
<origin xyz="0 0 0.079417" rpy="0 0 0"/>