<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="N2">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.0033233 0.00022809 0.048682"
        rpy="0 0 0" />
      <mass
        value="10.906" />
      <inertia
        ixx="0.036897"
        ixy="-1.1153E-05"
        ixz="0.0013572"
        iyy="0.017205"
        iyz="-7.8844E-06"
        izz="0.030119" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="L_arm_shoulder_pitch_Link">
    <inertial>
      <origin
        xyz="0.0029295 -0.0009965 -0.0082628"
        rpy="0 0 0" />
      <mass
        value="0.53256" />
      <inertia
        ixx="0.00025803"
        ixy="-3.9348E-08"
        ixz="-8.4172E-07"
        iyy="0.00019086"
        iyz="-2.8405E-07"
        izz="0.00019" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_shoulder_pitch_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_shoulder_pitch_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_arm_shoulder_pitch_joint"
    type="revolute">
    <origin
      xyz="0.003069 0.16731 0.17743"
      rpy="-1.3963 0 0" />
    <parent
      link="base_link" />
    <child
      link="L_arm_shoulder_pitch_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.7"
      upper="2.7"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="L_arm_shoulder_roll_Link">
    <inertial>
      <origin
        xyz="0.0036277 0.029074 -0.054867"
        rpy="0 0 0" />
      <mass
        value="0.77513" />
      <inertia
        ixx="0.00046269"
        ixy="3.0555E-06"
        ixz="-1.5146E-06"
        iyy="0.00035149"
        iyz="1.9611E-05"
        izz="0.00040004" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_shoulder_roll_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_shoulder_roll_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_arm_shoulder_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.3963 0 0" />
    <parent
      link="L_arm_shoulder_pitch_Link" />
    <child
      link="L_arm_shoulder_roll_Link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="0"
      upper="2.1"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="L_arm_shoulder_yaw_Link">
    <inertial>
      <origin
        xyz="0.0025992 4.9093E-05 -0.15799"
        rpy="0 0 0" />
      <mass
        value="0.62854" />
      <inertia
        ixx="0.00025606"
        ixy="-7.1141E-08"
        ixz="1.0035E-06"
        iyy="0.00034723"
        iyz="-8.1583E-07"
        izz="0.00022463" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_shoulder_yaw_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_shoulder_yaw_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_arm_shoulder_yaw_joint"
    type="revolute">
    <origin
      xyz="0 0.030484 0"
      rpy="0 0 0" />
    <parent
      link="L_arm_shoulder_roll_Link" />
    <child
      link="L_arm_shoulder_yaw_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.7"
      upper="2.7"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="L_arm_elbow_Link">
    <inertial>
      <origin
        xyz="-0.0038821 0.00087577 -0.07099"
        rpy="0 0 0" />
      <mass
        value="0.35793" />
      <inertia
        ixx="0.00029656"
        ixy="7.1133E-08"
        ixz="-2.9612E-06"
        iyy="0.00030929"
        iyz="4.6678E-07"
        izz="6.9881E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_elbow_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_elbow_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_arm_elbow_joint"
    type="revolute">
    <origin
      xyz="0.0030284 0 -0.17141"
      rpy="0 0 0" />
    <parent
      link="L_arm_shoulder_yaw_Link" />
    <child
      link="L_arm_elbow_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.8"
      upper="1"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="L_arm_hand_Link">
    <inertial>
      <origin
        xyz="-2.6372E-08 -0.00036865 -0.014941"
        rpy="0 0 0" />
      <mass
        value="0.063335" />
      <inertia
        ixx="1.7685E-05"
        ixy="-4.0855E-11"
        ixz="8.2119E-11"
        iyy="1.7585E-05"
        iyz="1.3619E-11"
        izz="1.1594E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_hand_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_arm_hand_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_arm_hand_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="-0.0045 0.00036368 -0.1815"
      rpy="0 0 0" />
    <parent
      link="L_arm_elbow_Link" />
    <child
      link="L_arm_hand_Link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="R_arm_shoulder_pitch_Link">
    <inertial>
      <origin
        xyz="0.0029295 7.0945E-05 -0.0083273"
        rpy="0 0 0" />
      <mass
        value="0.53256" />
      <inertia
        ixx="0.00025803"
        ixy="3.9225E-08"
        ixz="-8.4168E-07"
        iyy="0.00019086"
        iyz="2.8399E-07"
        izz="0.00019" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_shoulder_pitch_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_shoulder_pitch_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_arm_shoulder_pitch_joint"
    type="revolute">
    <origin
      xyz="0.003069 -0.16721 0.17835"
      rpy="1.3963 0 0" />
    <parent
      link="base_link" />
    <child
      link="R_arm_shoulder_pitch_Link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-2.7"
      upper="2.7"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="R_arm_shoulder_roll_Link">
    <inertial>
      <origin
        xyz="0.0036281 -0.029171 -0.05579"
        rpy="0 0 0" />
      <mass
        value="0.77513" />
      <inertia
        ixx="0.00046269"
        ixy="-3.0575E-06"
        ixz="-1.5131E-06"
        iyy="0.00035149"
        iyz="-1.9611E-05"
        izz="0.00040004" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_shoulder_roll_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_shoulder_roll_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_arm_shoulder_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="-1.3963 0 0" />
    <parent
      link="R_arm_shoulder_pitch_Link" />
    <child
      link="R_arm_shoulder_roll_Link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-2.1"
      upper="0"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="R_arm_shoulder_yaw_Link">
    <inertial>
      <origin
        xyz="0.0025992 -5.4055E-05 -0.15892"
        rpy="0 0 0" />
      <mass
        value="0.62854" />
      <inertia
        ixx="0.00025606"
        ixy="6.9256E-08"
        ixz="1.0036E-06"
        iyy="0.00034723"
        iyz="8.1612E-07"
        izz="0.00022463" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_shoulder_yaw_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.64706 0.61961 0.58824 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_shoulder_yaw_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_arm_shoulder_yaw_joint"
    type="revolute">
    <origin
      xyz="0 -0.030576 0"
      rpy="0 0 0" />
    <parent
      link="R_arm_shoulder_roll_Link" />
    <child
      link="R_arm_shoulder_yaw_Link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.7"
      upper="2.7"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="R_arm_elbow_Link">
    <inertial>
      <origin
        xyz="-0.0038821 -0.00087579 -0.07099"
        rpy="0 0 0" />
      <mass
        value="0.35793" />
      <inertia
        ixx="0.00029656"
        ixy="-7.2704E-08"
        ixz="-2.9611E-06"
        iyy="0.00030929"
        iyz="-4.6693E-07"
        izz="6.9881E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_elbow_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_elbow_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_arm_elbow_joint"
    type="revolute">
    <origin
      xyz="0.0030284 0 -0.17234"
      rpy="0 0 0" />
    <parent
      link="R_arm_shoulder_yaw_Link" />
    <child
      link="R_arm_elbow_Link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.8"
      upper="1"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="R_arm_hand_link">
    <inertial>
      <origin
        xyz="-2.1189E-08 -0.00018152 -0.015769"
        rpy="0 0 0" />
      <mass
        value="0.063335" />
      <inertia
        ixx="1.7685E-05"
        ixy="-2.3626E-11"
        ixz="7.6415E-11"
        iyy="1.7585E-05"
        iyz="-4.1586E-11"
        izz="1.1594E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_hand_Link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_arm_hand_Link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_arm_hand_joint"
    type="fixed" dont_collapse="true">
    <origin
      xyz="-0.0045 0.00018648 -0.18067"
      rpy="0 0 0" />
    <parent
      link="R_arm_elbow_Link" />
    <child
      link="R_arm_hand_link" />
    <axis
      xyz="0 0 0" />
  </joint>
  <link
    name="L_leg_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.022328 -0.0010228 0.019477"
        rpy="0 0 0" />
      <mass
        value="1.3433" />
      <inertia
        ixx="0.0021778"
        ixy="-7.7601E-07"
        ixz="8.3614E-06"
        iyy="0.0012569"
        iyz="5.4961E-06"
        izz="0.0011856" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_hip_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_hip_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_leg_hip_yaw_joint"
    type="revolute">
    <origin
      xyz="-0.065793 0.091233 -0.14593"
      rpy="0 0.7854 0" />
    <parent
      link="base_link" />
    <child
      link="L_leg_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-0.65"
      upper="1"
      effort="90"
      velocity="14" />
  </joint>
  <link
    name="L_leg_hip_roll_link">
    <inertial>
      <origin
        xyz="0.084108 -0.01988 0.0020216"
        rpy="0 0 0" />
      <mass
        value="1.9691" />
      <inertia
        ixx="0.0020007"
        ixy="-1.7283E-05"
        ixz="3.6844E-06"
        iyy="0.0041236"
        iyz="3.2614E-06"
        izz="0.0025413" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_hip_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_hip_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_leg_hip_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="L_leg_hip_yaw_link" />
    <child
      link="L_leg_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.65"
      upper="1"
      effort="90"
      velocity="14" />
  </joint>
  <link
    name="L_leg_hip_pitch_link">
    <inertial>
      <origin
        xyz="0.0048954 0.046764 -0.028101"
        rpy="0 0 0" />
      <mass
        value="3.1965" />
      <inertia
        ixx="0.0091975"
        ixy="5.4555E-05"
        ixz="0.00059007"
        iyy="0.011943"
        iyz="-0.00045886"
        izz="0.0032838" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_hip_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_hip_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_leg_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="0.09758 -0.0012327 0.0021351"
      rpy="0 -0.7854 0" />
    <parent
      link="L_leg_hip_roll_link" />
    <child
      link="L_leg_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.57"
      upper="0.78"
      effort="150"
      velocity="14" />
  </joint>
  <link
    name="L_leg_knee_link">
    <inertial>
      <origin
        xyz="0.019958 0.022256 -0.088003"
        rpy="0 0 0" />
      <mass
        value="1.6352" />
      <inertia
        ixx="0.0045741"
        ixy="-5.6619E-06"
        ixz="-3.0407E-05"
        iyy="0.0049692"
        iyz="0.00017639"
        izz="0.00061901" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_leg_knee_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.2"
      rpy="0 0 0" />
    <parent
      link="L_leg_hip_pitch_link" />
    <child
      link="L_leg_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="2.2"
      effort="150"
      velocity="14" />
  </joint>
  <link
    name="L_leg_ankle_link">
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      <origin
        xyz="0.016737 0.019094 -0.019954"
        rpy="0 0 0" />
      <mass
        value="0.62716" />
      <inertia
        ixx="0.00018261"
        ixy="2.5025E-06"
        ixz="8.0412E-06"
        iyy="0.00094108"
        iyz="-1.5265E-06"
        izz="0.0010634" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_ankle_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/l_leg_ankle_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="L_leg_ankle_joint"
    type="revolute">
    <origin
      xyz="0.015 0 -0.25957"
      rpy="0 0 0" />
    <parent
      link="L_leg_knee_link" />
    <child
      link="L_leg_ankle_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1"
      upper="0.75"
      effort="36"
      velocity="12" />
  </joint>
  <link
    name="R_leg_hip_yaw_link">
    <inertial>
      <origin
        xyz="-0.022328 0.0011618 0.019477"
        rpy="0 0 0" />
      <mass
        value="1.3433" />
      <inertia
        ixx="0.0021778"
        ixy="1.0306E-06"
        ixz="8.3589E-06"
        iyy="0.0012569"
        iyz="-5.5086E-06"
        izz="0.0011856" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_hip_yaw_link.STL" />
      </geometry>
      <material
        name="">
        <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/r_leg_hip_yaw_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_leg_hip_yaw_joint"
    type="revolute">
    <origin
      xyz="-0.065793 -0.091233 -0.14593"
      rpy="0 0.7854 0" />
    <parent
      link="base_link" />
    <child
      link="R_leg_hip_yaw_link" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1"
      upper="0.65"
      effort="90"
      velocity="12" />
  </joint>
  <link
    name="R_leg_hip_roll_link">
    <inertial>
      <origin
        xyz="0.084108 0.01988 0.0020216"
        rpy="0 0 0" />
      <mass
        value="1.9691" />
      <inertia
        ixx="0.0020006"
        ixy="1.7274E-05"
        ixz="3.6722E-06"
        iyy="0.0041236"
        iyz="-3.2652E-06"
        izz="0.0025413" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_hip_roll_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_hip_roll_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_leg_hip_roll_joint"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="R_leg_hip_yaw_link" />
    <child
      link="R_leg_hip_roll_link" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-1"
      upper="0.65"
      effort="90"
      velocity="12" />
  </joint>
  <link
    name="R_leg_hip_pitch_link">
    <inertial>
      <origin
        xyz="0.0048945 -0.046711 -0.028102"
        rpy="0 0 0" />
      <mass
        value="3.1964" />
      <inertia
        ixx="0.0091977"
        ixy="-5.4566E-05"
        ixz="0.00059008"
        iyy="0.011943"
        iyz="0.00045887"
        izz="0.0032839" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_hip_pitch_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_hip_pitch_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_leg_hip_pitch_joint"
    type="revolute">
    <origin
      xyz="0.09758 0.0012327 0.0021351"
      rpy="0 -0.7854 0" />
    <parent
      link="R_leg_hip_roll_link" />
    <child
      link="R_leg_hip_pitch_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1.57"
      upper="0.78"
      effort="150"
      velocity="14" />
  </joint>
  <link
    name="R_leg_knee_link">
    <inertial>
      <origin
        xyz="0.019954 -0.022258 -0.088003"
        rpy="0 0 0" />
      <mass
        value="1.6354" />
      <inertia
        ixx="0.0045742"
        ixy="5.6593E-06"
        ixz="-3.0427E-05"
        iyy="0.0049693"
        iyz="-0.00017638"
        izz="0.0006191" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_knee_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.89804 0.91765 0.92941 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_knee_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_leg_knee_joint"
    type="revolute">
    <origin
      xyz="0 0 -0.2"
      rpy="0 0 0" />
    <parent
      link="R_leg_hip_pitch_link" />
    <child
      link="R_leg_knee_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="0"
      upper="2.2"
      effort="150"
      velocity="14" />
  </joint>
  <link
    name="R_leg_ankle_link">
    <inertial>
      <origin
        xyz="0.016737 -0.019095 -0.019954"
        rpy="0 0 0" />
      <mass
        value="0.62716" />
      <inertia
        ixx="0.00018262"
        ixy="-2.5114E-06"
        ixz="8.0411E-06"
        iyy="0.00094107"
        iyz="1.5265E-06"
        izz="0.0010634" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_ankle_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="../meshes/r_leg_ankle_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="R_leg_ankle_joint"
    type="revolute">
    <origin
      xyz="0.015 0 -0.25957"
      rpy="0 0 0" />
    <parent
      link="R_leg_knee_link" />
    <child
      link="R_leg_ankle_link" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-1"
      upper="0.75"
      effort="36"
      velocity="14" />
  </joint>
</robot>