<robot name="human_36dof_ISB_model">
    <material name="body_color">
        <color rgba="0.0 0.0 0.8 1.0"/>
    </material>
    <material name="body_color_R">
        <color rgba="0.8 0.0 0.0 1.0"/>
    </material>
     <material name="body_color_L">
        <color rgba="0.0 0.8 0.0 1.0"/>
    </material>
    <link name="middle_pelvis">
        <inertial>
            <mass value="10.65" />
            <origin xyz="0.03 -0.025 -0.001" rpy="0 -0 0" />
            <inertia ixx="0.08977" ixy="-0.0055" ixz="-0.00127" iyy="0.09888" iyz="-0.00056" izz="0.07942" />
        </inertial>
        <visual>
	        <origin xyz="0.0 -0.05 0.0" rpy="0 0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/pelvis_mesh.STL" scale="0.0063 0.0058 0.0058"/>
            </geometry>
            <material name="body_color"/>
        </visual>
    </link>
    <joint name="left_hip_Z" type="revolute">
        <origin xyz="0.023 -0.1 -0.082" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="middle_pelvis" />
        <child link="left_upperleg_virtual" />
        <limit effort="185" velocity="12.0" lower="-1.047196667" upper="3.14159" />
    </joint>
    <link name="left_upperleg_virtual" />
    <joint name="left_hip_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="left_upperleg_virtual" />
        <child link="left_upperleg_virtual_2" />
        <limit effort="120" velocity="12.0" lower="-1.047196667" upper="1.570795" />
    </joint>
    <link name="left_upperleg_virtual_2"/>
    <joint name="left_hip_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 -1 0" />
        <parent link="left_upperleg_virtual_2" />
        <child link="left_upperleg" />
        <limit effort="60" velocity="12.0" lower="-1.570795" upper="1.047196667" />
    </joint>
    <link name="left_upperleg">
        <inertial>
            <mass value="9.22" />
            <origin xyz="-0.018 -0.188 0.014" rpy="0 -0 0" />
            <inertia ixx="0.1497" ixy="0.00872" ixz="-0.00071" iyy="0.04005" iyz="-0.00872" izz="0.1602" />
        </inertial>
        <visual>
            <origin xyz="0 -0.05 0.0" rpy="0.0 0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/upperleg_mesh.STL" scale="0.0062 0.0064 0.0069"/>
            </geometry>
            <material name="body_color_L"/>
        </visual>
    </link>
    <joint name="left_knee_Z" type="revolute">
        <origin xyz="0. -0.439 0." rpy="0 -0 0" />
        <axis xyz="0 0 -1" />
        <parent link="left_upperleg" />
        <child link="left_lowerleg" />
        <limit effort="130" velocity="18.6" lower="0" upper="3.14159" />
    </joint>
    <link name="left_lowerleg">
        <inertial>
            <mass value="3.6" />
            <origin xyz="-0.021 -0.181 0.003" rpy="0 -0 0" />
            <inertia ixx="0.05471" ixy="0.00112" ixz="0.00028" iyy="0.00698" iyz="0.00174" izz="0.05471" />
        </inertial>
        <visual>
            <origin xyz="-0.0 -0.0 0.0" rpy="0.0 0.0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/lowerleg_mesh.STL" scale="0.0063 0.0066 0.007"/>
            </geometry>
            <material name="body_color_L"/>
	    </visual>
        <visual>
            <origin xyz="-0.0 0.0 -0.0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/knee_mesh.STL" scale="0.0056 0.0056 0.0056"/>
            </geometry>
            <material name="body_color_L"/>
        </visual>
    </link>
    <joint name="left_ankle_Z" type="revolute">
        <origin xyz="0 -0.44 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="left_lowerleg" />
        <child link="left_foot_virtual" />
        <limit effort="126" velocity="12.7" lower="-1.570795" upper="0.7853975" />
    </joint>
    <link name="left_foot_virtual" />
    <joint name="left_ankle_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="-1 0 0" />
        <parent link="left_foot_virtual" />
        <child link="left_foot" />
        <limit effort="20" velocity="2.0" lower="-0.523598333" upper="0.785398" />
    </joint>
    <link name="left_foot">
        <inertial>
            <mass value="0.9" />
            <origin xyz="0.068 -0.027 0.005" rpy="0 -0 0" />
            <inertia ixx="0.00081" ixy="0.00048" ixz="-0.00018" iyy="0.00385" iyz="0.0" izz="0.00364" />
        </inertial>
        <visual>
            <origin xyz="-0.0 -0.0 0.00" rpy="0 0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/foot_mesh.STL" scale="0.0067 0.0067 0.0067"/>
                <!--<box size="0.03 0.085239 0.06" />-->
            </geometry>
            <material name="body_color_L"/>
        </visual>
    </link>
    <joint name="middle_lumbar_Z" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 -1" />
        <parent link="middle_pelvis" />
        <child link="middle_abdomen_virtual" />
        <limit effort="190" velocity="5.2" lower="-0.785398" upper="3.14159" />
    </joint>
    <link name="middle_abdomen_virtual" />
    <joint name="middle_lumbar_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="middle_abdomen_virtual" />
        <child link="middle_abdomen" />
        <limit effort="160" velocity="5.2" lower="-0.785398" upper="0.785398" />
    </joint>
    <link name="middle_abdomen">
        <inertial>
            <mass value="12.25" />
            <origin xyz="-0.008 0.1 0.0" rpy="0 -0 0" />
            <inertia ixx="0.04427" ixy="0.01968" ixz="-0.00024" iyy="0.03796" iyz="-0.00097" izz="0.04761" />
        </inertial>
        <visual>
            <origin xyz="-0.0 0.0 -0.0" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/abdomen_mesh.STL" scale="0.0074 0.0074 0.0074"/>
                <!--<box size="0.15 0.161217 0.198658" />-->
            </geometry>
            <material name="body_color"/>
        </visual>
    </link>
    <joint name="middle_thoracic_Z" type="revolute">
        <origin xyz="0 0.223 0" rpy="0 -0 0" />
        <axis xyz="0 0 -1" />
        <parent link="middle_abdomen" />
        <child link="middle_thorax_virtual" />
        <limit effort="190" velocity="5.2" lower="-0.392699" upper="1.0472" />
    </joint>
    <link name="middle_thorax_virtual" />
    <joint name="middle_thoracic_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="middle_thorax_virtual" />
        <child link="middle_thorax_virtual_2" />
        <limit effort="190" velocity="5.2" lower="-1.0472" upper="1.0472" />
    </joint>
    <link name="middle_thorax_virtual_2" />
    <joint name="middle_thoracic_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="middle_thorax_virtual_2" />
        <child link="middle_thorax" />
        <limit effort="185" velocity="2.0" lower="-1.0472" upper="1.0472" />
    </joint>
    <link name="middle_thorax" >
        <inertial>
            <mass value="11.97" />
            <origin xyz="-0.009 0.127 -0.001" rpy="0 -0 0" />
            <inertia ixx="0.05463" ixy="0.02428" ixz="-0.0003" iyy="0.04683" iyz="-0.0012" izz="0.05875" />
        </inertial>
        <visual>
	    <origin xyz="-0.0 -0.32 0.0" rpy="0 -0 0" />
            <geometry>
		        <!--<box size="0.15 0.356643 0.329994" />-->
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/torso_mesh.STL" scale="0.007 0.007 0.007"/>
            </geometry>
            <material name="body_color"/>
        </visual>
    </link>
    <joint name="middle_cervical_Z" type="revolute">
        <origin xyz="0 0.25 0" rpy="0 -0 0" />
        <axis xyz="0 0 -1" />
        <parent link="middle_thorax" />
        <child link="middle_head_virtual" />
        <limit effort="100" velocity="8.7" lower="-1.5708" upper="1.5708" />
    </joint>
    <link name="middle_head_virtual" />
    <joint name="middle_cervical_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="middle_head_virtual" />
        <child link="middle_head_virtual_2" />
        <limit effort="100" velocity="8.7" lower="-1.5708" upper="1.5708" />
    </joint>
    <link name="middle_head_virtual_2" />
    <joint name="middle_cervical_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="middle_head_virtual_2" />
        <child link="middle_head" />
        <limit effort="100" velocity="8.7" lower="-1.5708" upper="1.5708" />
    </joint>
    <link name="middle_head">
        <inertial>
            <mass value="5.03" />
            <origin xyz="-0.015 0.131 0.0" rpy="0 -0 0" />
            <inertia ixx="0.02688" ixy="-0.00227" ixz="-0.00011" iyy="0.01748" iyz="0.00025" izz="0.03046" />
        </inertial>
        <visual>
	        <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/head_mesh.STL" scale="0.0056 0.0056 0.0056"/>
            </geometry>
            <material name="body_color"/>
        </visual>
        <visual>
	     <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/neck_mesh.STL" scale="0.005 0.005 0.005"/>
            </geometry>
            <material name="body_color"/>
        </visual>
    </link>
    <joint name="left_clavicle_joint_X" type="revolute">
        <origin xyz="0 0.176 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="middle_thorax" />
        <child link="left_clavicle" />
        <limit effort="100" velocity="14.0" lower="-0.349066" upper="1.0472" />
    </joint>
    <link name="left_clavicle">
        <inertial>
            <mass value="0.15600" />
            <origin xyz="-0.011096 0.00637 0.05417" rpy="0 -0 0" />
            <inertia ixx="0.000244475910987392" ixy="-3.13116477521894e-06" ixz="-6.28348311160782e-05" iyy="0.000259091764354603" iyz="4.16006826280581e-05" izz="5.52984590300221e-05" />
        </inertial>
    </link>
    <joint name="left_shoulder_Z" type="revolute">
        <origin xyz="0.008 -0.075 -0.21" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="left_clavicle" />
        <child link="left_upperarm_virtual" />
        <limit effort="92" velocity="17.6" lower="-3.14159" upper="3.14159" />
    </joint>
    <link name="left_upperarm_virtual"/>
    <joint name="left_shoulder_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="left_upperarm_virtual" />
        <child link="left_upperarm_virtual_2" />
        <limit effort="71" velocity="6.0" lower="-1.0472" upper="3.14159" />
    </joint>
    <link name="left_upperarm_virtual_2" />
    <joint name="left_shoulder_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 -1 0" />
        <parent link="left_upperarm_virtual_2" />
        <child link="left_upperarm" />
        <limit effort="52" velocity="6.0" lower="-1.5708" upper="3.14159" />
    </joint>
    <link name="left_upperarm">
        <inertial>
            <mass value="1.8" />
            <origin xyz="0.005 -0.125 -0.007" rpy="0 -0 0" />
            <inertia ixx="0.01314" ixy="0.00049" ixz="0.00034" iyy="0.00268" iyz="0.00005" izz="0.014" />
        </inertial>
        <visual>
	         <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/shoulder_mesh.STL" scale="0.0039 0.0039 0.0039"/>
            </geometry>
            <material name="body_color_L"/>
        </visual>
        <visual>
            <origin xyz="-0.0 0.05 -0.00" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/upperarm_mesh.STL" scale="0.0063 0.006 0.0069"/>
            </geometry>
            <material name="body_color_L"/>
        </visual>
    </link>
    <joint name="left_elbow_Z" type="revolute">
        <origin xyz="0 -0.276 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="left_upperarm" />
        <child link="left_lowerarm_virtual" />
        <limit effort="77" velocity="19.9" lower="0" upper="2.617991667" />
    </joint>
    <link name="left_lowerarm_virtual"/>
    <joint name="left_elbow_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 -1 0" />
        <parent link="left_lowerarm_virtual" />
        <child link="left_lowerarm" />
        <limit effort="15" velocity="6.0" lower="-0.349066" upper="3.14159" />
    </joint>
    <link name="left_lowerarm">
        <inertial>
            <mass value="1.28" />
            <origin xyz="0.003 -0.12 0.004" rpy="0 -0 0" />
            <inertia ixx="0.00825" ixy="0.00009" ixz="0.00004" iyy="0.00127" iyz="-0.00067" izz="0.00767" />
        </inertial>
        <visual>
            <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/lowerarm_mesh.STL" scale="0.0064 0.0064 0.0064"/>
            </geometry>
            <material name="body_color_L"/>
        </visual>
        <visual>
	        <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/elbow_mesh.STL" scale="0.0055 0.0055 0.0055"/>
            </geometry>
            <material name="body_color_L"/>
        </visual>
    </link>
    <joint name="left_wrist_Z" type="revolute">
        <origin xyz="0 -0.287 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="left_lowerarm" />
        <child link="left_hand_virtual" />
        <limit effort="185" velocity="25.0" lower="-1.5708" upper="1.5708" />
    </joint>
    <link name="left_hand_virtual" />
    <joint name="left_wrist_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="left_hand_virtual" />
        <child link="left_hand" />
        <limit effort="100" velocity="6.0" lower="-0.785398" upper="0.785398" />
    </joint>
    <link name="left_hand">
        <inertial>
            <mass value="0.45" />
            <origin xyz="0.015 -0.153 0.014" rpy="0 -0 0" />
            <inertia ixx="0.00558" ixy="0.00073" ixz="0.00034" iyy="0.00216" iyz="-0.0006" izz="0.0047" />
        </inertial>
        <visual>
            <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/hand_mesh.STL" scale="0.0061 0.0061 0.0061"/>
                <!--<box size="0.03 0.085239 0.06" />-->
            </geometry>
            <material name="body_color_L"/>
        </visual>
    </link>
    <joint name="right_clavicle_joint_X" type="revolute">
        <origin xyz="0 0.176 0" rpy="0 -0 0" />
        <axis xyz="-1 0 0" />
        <parent link="middle_thorax" />
        <child link="right_clavicle" />
        <limit effort="100" velocity="14.0" lower="-0.349066" upper="1.0472" />
    </joint>
    <link name="right_clavicle">
        <inertial>
            <mass value="0.15600" />
            <origin xyz="-0.011096 0.00637 0.05417" rpy="0 -0 0" />
            <inertia ixx="0.000244475910987392" ixy="-3.13116477521894e-06" ixz="-6.28348311160782e-05" iyy="0.000259091764354603" iyz="4.16006826280581e-05" izz="5.52984590300221e-05" />
        </inertial>
    </link>
    <joint name="right_shoulder_Z" type="revolute">
        <origin xyz="0.008 -0.075 0.21" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="right_clavicle" />
        <child link="right_upperarm_virtual" />
        <limit effort="92" velocity="17.6" lower="-3.14159" upper="3.14159" />
    </joint>
    <link name="right_upperarm_virtual"/>
    <joint name="right_shoulder_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="-1 0 0" />
        <parent link="right_upperarm_virtual" />
        <child link="right_upperarm_virtual_2" />
        <limit effort="71" velocity="6.0" lower="-1.0472" upper="3.14159" />
    </joint>
    <link name="right_upperarm_virtual_2" />
    <joint name="right_shoulder_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="right_upperarm_virtual_2" />
        <child link="right_upperarm" />
        <limit effort="52" velocity="6.0" lower="-1.5708" upper="3.14159" />
    </joint>
    <link name="right_upperarm">
        <inertial>
            <mass value="1.8" />
            <origin xyz="0.005 -0.125 -0.007" rpy="0 -0 0" />
            <inertia ixx="0.01314" ixy="0.00049" ixz="0.00034" iyy="0.00268" iyz="0.00005" izz="0.014" />
        </inertial>
        <visual>
	        <origin xyz="-0.0 0.0 -0.0" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/shoulder_mesh.STL" scale="0.0039 0.0039 0.0039"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
        <visual>
            <origin xyz="-0.0 0.05 -0.00" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/upperarm_mesh.STL" scale="0.0063 0.006 0.0069"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
    </link>
    <joint name="right_elbow_Z" type="revolute">
        <origin xyz="0 -0.276 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="right_upperarm" />
        <child link="right_lowerarm_virtual" />
        <limit effort="77" velocity="19.9" lower="0" upper="2.617991667" />
    </joint>
    <link name="right_lowerarm_virtual"/>
    <joint name="right_elbow_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="right_lowerarm_virtual" />
        <child link="right_lowerarm" />
        <limit effort="15" velocity="6.0" lower="-0.349066" upper="3.14159" />
    </joint>
    <link name="right_lowerarm">
        <inertial>
            <mass value="1.28" />
            <origin xyz="0.003 -0.12 0.004" rpy="0 -0 0" />
            <inertia ixx="0.00825" ixy="0.00009" ixz="0.00004" iyy="0.00127" iyz="-0.00067" izz="0.00767" />
        </inertial>
        <visual>
            <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/lowerarm_mesh.STL" scale="0.0064 0.0064 0.0064"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
        <visual>
	        <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/elbow_mesh.STL" scale="0.0055 0.0055 0.0055"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
    </link>
    <joint name="right_wrist_Z" type="revolute">
        <origin xyz="0 -0.287 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="right_lowerarm" />
        <child link="right_hand_virtual" />
        <limit effort="100" velocity="25.0" lower="-1.5708" upper="1.5708" />
    </joint>
    <link name="right_hand_virtual" />
    <joint name="right_wrist_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="-1 0 0" />
        <parent link="right_hand_virtual" />
        <child link="right_hand" />
        <limit effort="100" velocity="6.0" lower="-0.785398" upper="0.785398" />
    </joint>
    <link name="right_hand">
        <inertial>
            <mass value="0.45" />
            <origin xyz="0.015 -0.153 0.014" rpy="0 -0 0" />
            <inertia ixx="0.00558" ixy="0.00073" ixz="0.00034" iyy="0.00216" iyz="-0.0006" izz="0.0047" />
        </inertial>
        <visual>
            <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/hand_mesh.STL" scale="0.0061 0.0061 0.0061"/>
                <!--<box size="0.03 0.085239 0.06" />-->
            </geometry>
            <material name="body_color_R"/>
        </visual>
    </link>
    <joint name="right_hip_Z" type="revolute">
        <origin xyz="0.023 -0.1 0.082" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="middle_pelvis" />
        <child link="right_upperleg_virtual" />
        <limit effort="185" velocity="12.0" lower="-1.047196667" upper="3.14159" />
    </joint>
    <link name="right_upperleg_virtual" />
    <joint name="right_hip_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="-1 0 0" />
        <parent link="right_upperleg_virtual" />
        <child link="right_upperleg_virtual_2" />
        <limit effort="120" velocity="6.0" lower="-1.047196667" upper="1.570795" />
    </joint>
    <link name="right_upperleg_virtual_2"/>
    <joint name="right_hip_Y" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="right_upperleg_virtual_2" />
        <child link="right_upperleg" />
        <limit effort="60" velocity="6.0" lower="-1.570795" upper="1.047196667" />
    </joint>
    <link name="right_upperleg">
        <inertial>
            <mass value="9.22" />
            <origin xyz="-0.018 -0.188 0.014" rpy="0 -0 0" />
            <inertia ixx="0.1497" ixy="0.00872" ixz="-0.00071" iyy="0.04005" iyz="-0.00872" izz="0.1602" />
        </inertial>
        <visual>
            <origin xyz="-0.0 -0.05 -0.00" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/upperleg_mesh.STL" scale="0.0062 0.0064 0.0069"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
    </link>
    <joint name="right_knee_Z" type="revolute">
        <origin xyz="0 -0.439 0" rpy="0 -0 0" />
        <axis xyz="0 0 -1" />
        <parent link="right_upperleg" />
        <child link="right_lowerleg" />
        <limit effort="130" velocity="18.6" lower="0" upper="3.14159" />
    </joint>
    <link name="right_lowerleg">
        <inertial>
            <mass value="3.6" />
            <origin xyz="-0.021 -0.181 0.003" rpy="0 -0 0" />
            <inertia ixx="0.05471" ixy="0.00112" ixz="0.00028" iyy="0.00698" iyz="0.00174" izz="0.05471" />
        </inertial>
        <visual>
            <origin xyz="-0.0 0.00 -0.00" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/lowerleg_mesh.STL" scale="0.0063 0.0066 0.007"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
        <visual>
            <origin xyz="-0.0 0.0 -0.0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="package://example-robot-data/robots/human_description/meshes/knee_mesh.STL" scale="0.0056 0.0056 0.0056"/>
            </geometry>
            <material name="body_color_R"/>
        </visual>
    </link>
    <joint name="right_ankle_Z" type="revolute">
        <origin xyz="0 -0.44 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="right_lowerleg" />
        <child link="right_foot_virtual" />
        <limit effort="126" velocity="12.7" lower="-1.570795" upper="0.7853975" />
    </joint>
    <link name="right_foot_virtual" />
    <joint name="right_ankle_X" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="right_foot_virtual" />
        <child link="right_foot" />
        <limit effort="20" velocity="6.0" lower="-0.523598333" upper="0.785398" />
    </joint>
    <link name="right_foot">
        <inertial>
            <mass value="0.9" />
            <origin xyz="0.068 -0.027 0.005" rpy="0 -0 0" />
            <inertia ixx="0.00081" ixy="0.00048" ixz="-0.00018" iyy="0.00385" iyz="0.0" izz="0.00364" />
        </inertial>
        <visual>
            <origin xyz="-0.00 -0.00 0.00" rpy="0 0 0" />
            <geometry>
		        <mesh filename="package://example-robot-data/robots/human_description/meshes/foot_mesh.STL" scale="0.0067 0.0067 0.0067"/>
                <!--<box size="0.03 0.085239 0.06" />-->
            </geometry>
            <material name="body_color_R"/>
        </visual>
    </link>
</robot>
