<?xml version="1.0" encoding="utf-8"?>
<robot name="robot">
  <link name="base_link"/>
  <link name="middle_spine">
    <visual>
      <geometry>
        <cylinder length="0.1133" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <box size="0.0127 0.0127                      0.08155"/>
      </geometry>
    </collision>
    <inertial>
      <origin/>
      <mass value="0.02851761"/>
      <inertia ixx="3.08657960515e-05" ixy="0" ixz="0" iyy="3.08657960515e-05" iyz="0" izz="7.18688330766e-07"/>
    </inertial>
  </link>
  <link name="head">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="neck">
    <visual>
      <origin xyz="0 0 0.085"/>
      <geometry>
        <cylinder length="0.17" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.085"/>
      <geometry>
        <box size="0.0127 0.0127                        0.13825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.085"/>
      <mass value="0.042789"/>
      <inertia ixx="0.000103589349829" ixy="0" ixz="0" iyy="0.000103589349829" iyz="0" izz="1.07834965781e-06"/>
    </inertial>
  </link>
  <link name="upper_spine_ball">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="upper_spine">
    <visual>
      <origin xyz="0 0 0.05665"/>
      <geometry>
        <cylinder length="0.1133" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.05665"/>
      <geometry>
        <box size="0.0127 0.0127                        0.08155"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.05665"/>
      <mass value="0.02851761"/>
      <inertia ixx="3.08657960515e-05" ixy="0" ixz="0" iyy="3.08657960515e-05" iyz="0" izz="7.18688330766e-07"/>
    </inertial>
  </link>
  <link name="middle_spine_upper_ball">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="middle_spine_lower_ball">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="lower_spine">
    <visual>
      <origin xyz="0 0 0.05665"/>
      <geometry>
        <cylinder length="0.1133" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.05665"/>
      <geometry>
        <box size="0.0127 0.0127                        0.08155"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.05665"/>
      <mass value="0.02851761"/>
      <inertia ixx="3.08657960515e-05" ixy="0" ixz="0" iyy="3.08657960515e-05" iyz="0" izz="7.18688330766e-07"/>
    </inertial>
  </link>
  <link name="lower_spine_ball">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="center_pelvis">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="left_clavicle">
    <visual>
      <origin xyz="0 0 0.1"/>
      <geometry>
        <cylinder length="0.2" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.1"/>
      <geometry>
        <box size="0.0127 0.0127                        0.16825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.1"/>
      <mass value="0.05034"/>
      <inertia ixx="0.000168434323328" ixy="0" ixz="0" iyy="0.000168434323328" iyz="0" izz="1.26864665625e-06"/>
    </inertial>
  </link>
  <link name="left_shoulder">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="left_humerus">
    <visual>
      <origin xyz="0 0 0.165"/>
      <geometry>
        <cylinder length="0.33" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.165"/>
      <geometry>
        <box size="0.0127 0.0127                        0.29825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.165"/>
      <mass value="0.083061"/>
      <inertia ixx="0.000754825208491" ixy="0" ixz="0" iyy="0.000754825208491" iyz="0" izz="2.09326698281e-06"/>
    </inertial>
  </link>
  <link name="left_elbow">
    <visual>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.57079632679 0 0"/>
      <mass value="0.0120978"/>
      <inertia ixx="1.1382315945e-06" ixy="0" ixz="0" iyy="1.1382315945e-06" iyz="0" izz="9.75627081e-07"/>
    </inertial>
  </link>
  <link name="left_ulna">
    <visual>
      <origin xyz="0 0 0.125"/>
      <geometry>
        <cylinder length="0.25" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.125"/>
      <geometry>
        <box size="0.0127 0.0127                        0.21825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.125"/>
      <mass value="0.062925"/>
      <inertia ixx="0.00032852727916" ixy="0" ixz="0" iyy="0.00032852727916" iyz="0" izz="1.58580832031e-06"/>
    </inertial>
  </link>
  <link name="left_wrist">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="left_hand">
    <visual>
      <origin xyz="0 0 0.095"/>
      <geometry>
        <cylinder length="0.19" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.095"/>
      <geometry>
        <box size="0.0127 0.0127                        0.15825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.095"/>
      <mass value="0.047823"/>
      <inertia ixx="0.000144470132162" ixy="0" ixz="0" iyy="0.000144470132162" iyz="0" izz="1.20521432344e-06"/>
    </inertial>
  </link>
  <link name="left_pelvis">
    <visual>
      <origin xyz="0 0 0.120208"/>
      <geometry>
        <cylinder length="0.240416" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.120208"/>
      <geometry>
        <box size="0.0127 0.0127                        0.208666"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.120208"/>
      <mass value="0.0605127072"/>
      <inertia ixx="0.000292231306068" ixy="0" ixz="0" iyy="0.000292231306068" iyz="0" izz="1.52501477254e-06"/>
    </inertial>
  </link>
  <link name="left_hip">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="left_femur">
    <visual>
      <origin xyz="0 0 0.185"/>
      <geometry>
        <cylinder length="0.37" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.185"/>
      <geometry>
        <box size="0.0127 0.0127                        0.33825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.185"/>
      <mass value="0.093129"/>
      <inertia ixx="0.00106362017316" ixy="0" ixz="0" iyy="0.00106362017316" iyz="0" izz="2.34699631406e-06"/>
    </inertial>
  </link>
  <link name="left_knee">
    <visual>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.57079632679 0 0"/>
      <mass value="0.0120978"/>
      <inertia ixx="1.1382315945e-06" ixy="0" ixz="0" iyy="1.1382315945e-06" iyz="0" izz="9.75627081e-07"/>
    </inertial>
  </link>
  <link name="left_tibia">
    <visual>
      <origin xyz="0 0 0.225"/>
      <geometry>
        <cylinder length="0.45" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.225"/>
      <geometry>
        <box size="0.0127 0.0127                        0.41825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.225"/>
      <mass value="0.113265"/>
      <inertia ixx="0.00191277410249" ixy="0" ixz="0" iyy="0.00191277410249" iyz="0" izz="2.85445497656e-06"/>
    </inertial>
  </link>
  <link name="left_ankle">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="left_foot">
    <visual>
      <origin xyz="0 0 0.105"/>
      <geometry>
        <cylinder length="0.21" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.105"/>
      <geometry>
        <box size="0.0127 0.0127                        0.17825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.105"/>
      <mass value="0.052857"/>
      <inertia ixx="0.000194915514495" ixy="0" ixz="0" iyy="0.000194915514495" iyz="0" izz="1.33207898906e-06"/>
    </inertial>
  </link>
  <link name="right_clavicle">
    <visual>
      <origin xyz="0 0 0.1"/>
      <geometry>
        <cylinder length="0.2" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.1"/>
      <geometry>
        <box size="0.0127 0.0127                        0.16825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.1"/>
      <mass value="0.05034"/>
      <inertia ixx="0.000168434323328" ixy="0" ixz="0" iyy="0.000168434323328" iyz="0" izz="1.26864665625e-06"/>
    </inertial>
  </link>
  <link name="right_shoulder">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="right_humerus">
    <visual>
      <origin xyz="0 0 0.165"/>
      <geometry>
        <cylinder length="0.33" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.165"/>
      <geometry>
        <box size="0.0127 0.0127                        0.29825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.165"/>
      <mass value="0.083061"/>
      <inertia ixx="0.000754825208491" ixy="0" ixz="0" iyy="0.000754825208491" iyz="0" izz="2.09326698281e-06"/>
    </inertial>
  </link>
  <link name="right_elbow">
    <visual>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.57079632679 0 0"/>
      <mass value="0.0120978"/>
      <inertia ixx="1.1382315945e-06" ixy="0" ixz="0" iyy="1.1382315945e-06" iyz="0" izz="9.75627081e-07"/>
    </inertial>
  </link>
  <link name="right_ulna">
    <visual>
      <origin xyz="0 0 0.125"/>
      <geometry>
        <cylinder length="0.25" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.125"/>
      <geometry>
        <box size="0.0127 0.0127                        0.21825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.125"/>
      <mass value="0.062925"/>
      <inertia ixx="0.00032852727916" ixy="0" ixz="0" iyy="0.00032852727916" iyz="0" izz="1.58580832031e-06"/>
    </inertial>
  </link>
  <link name="right_wrist">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="right_hand">
    <visual>
      <origin xyz="0 0 0.095"/>
      <geometry>
        <cylinder length="0.19" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.095"/>
      <geometry>
        <box size="0.0127 0.0127                        0.15825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.095"/>
      <mass value="0.047823"/>
      <inertia ixx="0.000144470132162" ixy="0" ixz="0" iyy="0.000144470132162" iyz="0" izz="1.20521432344e-06"/>
    </inertial>
  </link>
  <link name="right_pelvis">
    <visual>
      <origin xyz="0 0 0.120208"/>
      <geometry>
        <cylinder length="0.240416" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.120208"/>
      <geometry>
        <box size="0.0127 0.0127                        0.208666"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.120208"/>
      <mass value="0.0605127072"/>
      <inertia ixx="0.000292231306068" ixy="0" ixz="0" iyy="0.000292231306068" iyz="0" izz="1.52501477254e-06"/>
    </inertial>
  </link>
  <link name="right_hip">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="right_femur">
    <visual>
      <origin xyz="0 0 0.185"/>
      <geometry>
        <cylinder length="0.37" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.185"/>
      <geometry>
        <box size="0.0127 0.0127                        0.33825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.185"/>
      <mass value="0.093129"/>
      <inertia ixx="0.00106362017316" ixy="0" ixz="0" iyy="0.00106362017316" iyz="0" izz="2.34699631406e-06"/>
    </inertial>
  </link>
  <link name="right_knee">
    <visual>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="1.57079632679 0 0"/>
      <geometry>
        <cylinder length="0.0254" radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.57079632679 0 0"/>
      <mass value="0.0120978"/>
      <inertia ixx="1.1382315945e-06" ixy="0" ixz="0" iyy="1.1382315945e-06" iyz="0" izz="9.75627081e-07"/>
    </inertial>
  </link>
  <link name="right_tibia">
    <visual>
      <origin xyz="0 0 0.225"/>
      <geometry>
        <cylinder length="0.45" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.225"/>
      <geometry>
        <box size="0.0127 0.0127                        0.41825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.225"/>
      <mass value="0.113265"/>
      <inertia ixx="0.00191277410249" ixy="0" ixz="0" iyy="0.00191277410249" iyz="0" izz="2.85445497656e-06"/>
    </inertial>
  </link>
  <link name="right_ankle">
    <visual>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0127"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.0080652"/>
      <inertia ixx="5.203344432e-07" ixy="0" ixz="0" iyy="5.203344432e-07" iyz="0" izz="5.203344432e-07"/>
    </inertial>
  </link>
  <link name="right_foot">
    <visual>
      <origin xyz="0 0 0.105"/>
      <geometry>
        <cylinder length="0.21" radius="0.00635"/>
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0.105"/>
      <geometry>
        <box size="0.0127 0.0127                        0.17825"/>
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0 0 0.105"/>
      <mass value="0.052857"/>
      <inertia ixx="0.000194915514495" ixy="0" ixz="0" iyy="0.000194915514495" iyz="0" izz="1.33207898906e-06"/>
    </inertial>
  </link>
  <joint name="base_link_to_middle_spine" type="fixed">
    <parent link="base_link"/>
    <child link="middle_spine"/>
  </joint>
  <joint name="middle_spine_to_upper_ball" type="fixed">
    <parent link="middle_spine"/>
    <child link="middle_spine_upper_ball"/>
    <origin xyz="0 0 0.05665"/>
  </joint>
  <joint name="middle_spine_to_lower_ball" type="fixed">
    <parent link="middle_spine"/>
    <child link="middle_spine_lower_ball"/>
    <origin rpy="3.14159265359 0 0" xyz="0 0 -0.05665"/>
  </joint>
  <link name="middle_spine_ball_to_upper_spine_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="middle_spine_ball_to_upper_spine_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="middle_spine_ball_to_upper_spine_roll" type="revolute">
    <parent link="middle_spine_upper_ball"/>
    <child link="middle_spine_ball_to_upper_spine_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="middle_spine_ball_to_upper_spine_pitch" type="revolute">
    <parent link="middle_spine_ball_to_upper_spine_roll_to_pitch"/>
    <child link="middle_spine_ball_to_upper_spine_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="middle_spine_ball_to_upper_spine_yaw" type="revolute">
    <parent link="middle_spine_ball_to_upper_spine_pitch_to_yaw"/>
    <child link="upper_spine"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="upper_spine_to_ball" type="fixed">
    <parent link="upper_spine"/>
    <child link="upper_spine_ball"/>
    <origin xyz="0 0 0.1133"/>
  </joint>
  <link name="middle_spine_ball_to_lower_spine_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="middle_spine_ball_to_lower_spine_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="middle_spine_ball_to_lower_spine_roll" type="revolute">
    <parent link="middle_spine_lower_ball"/>
    <child link="middle_spine_ball_to_lower_spine_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="middle_spine_ball_to_lower_spine_pitch" type="revolute">
    <parent link="middle_spine_ball_to_lower_spine_roll_to_pitch"/>
    <child link="middle_spine_ball_to_lower_spine_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="middle_spine_ball_to_lower_spine_yaw" type="revolute">
    <parent link="middle_spine_ball_to_lower_spine_pitch_to_yaw"/>
    <child link="lower_spine"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="lower_spine_to_ball" type="fixed">
    <parent link="lower_spine"/>
    <child link="lower_spine_ball"/>
    <origin xyz="0 0 0.1133"/>
  </joint>
  <link name="lower_spine_ball_to_pelvis_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="lower_spine_ball_to_pelvis_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="lower_spine_ball_to_pelvis_roll" type="revolute">
    <parent link="lower_spine_ball"/>
    <child link="lower_spine_ball_to_pelvis_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="lower_spine_ball_to_pelvis_pitch" type="revolute">
    <parent link="lower_spine_ball_to_pelvis_roll_to_pitch"/>
    <child link="lower_spine_ball_to_pelvis_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="lower_spine_ball_to_pelvis_yaw" type="revolute">
    <parent link="lower_spine_ball_to_pelvis_pitch_to_yaw"/>
    <child link="center_pelvis"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <link name="spine_ball_to_neck_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="spine_ball_to_neck_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="spine_ball_to_neck_roll" type="revolute">
    <parent link="upper_spine_ball"/>
    <child link="spine_ball_to_neck_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="spine_ball_to_neck_pitch" type="revolute">
    <parent link="spine_ball_to_neck_roll_to_pitch"/>
    <child link="spine_ball_to_neck_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="spine_ball_to_neck_yaw" type="revolute">
    <parent link="spine_ball_to_neck_pitch_to_yaw"/>
    <child link="neck"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="neck_to_head" type="fixed">
    <parent link="neck"/>
    <child link="head"/>
    <origin xyz="0 0 0.17"/>
  </joint>
  <link name="spine_ball_to_left_clavicle_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="spine_ball_to_left_clavicle_roll" type="revolute">
    <parent link="upper_spine_ball"/>
    <child link="spine_ball_to_left_clavicle_roll_to_pitch"/>
    <origin rpy="-1.30899632679 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="spine_ball_to_left_clavicle_pitch" type="revolute">
    <parent link="spine_ball_to_left_clavicle_roll_to_pitch"/>
    <child link="left_clavicle"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_clavicle_to_shoulder" type="fixed">
    <parent link="left_clavicle"/>
    <child link="left_shoulder"/>
    <origin xyz="0 0 0.2"/>
  </joint>
  <link name="left_shoulder_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="left_shoulder_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="left_shoulder_joint_roll" type="revolute">
    <parent link="left_shoulder"/>
    <child link="left_shoulder_joint_roll_to_pitch"/>
    <origin rpy="-1.57079632679 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_shoulder_joint_pitch" type="revolute">
    <parent link="left_shoulder_joint_roll_to_pitch"/>
    <child link="left_shoulder_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_shoulder_joint_yaw" type="revolute">
    <parent link="left_shoulder_joint_pitch_to_yaw"/>
    <child link="left_humerus"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_humerus_to_elbow" type="fixed">
    <parent link="left_humerus"/>
    <child link="left_elbow"/>
    <origin xyz="0 0 0.33"/>
  </joint>
  <joint name="left_elbow_joint" type="revolute">
    <parent link="left_elbow"/>
    <child link="left_ulna"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="0" upper="3.14159265359" velocity="1"/>
  </joint>
  <joint name="left_ulna_to_wrist" type="fixed">
    <parent link="left_ulna"/>
    <child link="left_wrist"/>
    <origin xyz="0 0 0.25"/>
  </joint>
  <link name="left_wrist_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="left_wrist_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="left_wrist_joint_roll" type="revolute">
    <parent link="left_wrist"/>
    <child link="left_wrist_joint_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_wrist_joint_pitch" type="revolute">
    <parent link="left_wrist_joint_roll_to_pitch"/>
    <child link="left_wrist_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_wrist_joint_yaw" type="revolute">
    <parent link="left_wrist_joint_pitch_to_yaw"/>
    <child link="left_hand"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="center_pelvis_to_left_pelvis" type="fixed">
    <parent link="center_pelvis"/>
    <child link="left_pelvis"/>
    <origin rpy="0.785398163397 0 0"/>
  </joint>
  <joint name="left_pelvis_to_hip" type="fixed">
    <parent link="left_pelvis"/>
    <child link="left_hip"/>
    <origin xyz="0 0 0.240416"/>
  </joint>
  <link name="left_hip_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="left_hip_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="left_hip_joint_roll" type="revolute">
    <parent link="left_hip"/>
    <child link="left_hip_joint_roll_to_pitch"/>
    <origin rpy="-0.785398163397 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_hip_joint_pitch" type="revolute">
    <parent link="left_hip_joint_roll_to_pitch"/>
    <child link="left_hip_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_hip_joint_yaw" type="revolute">
    <parent link="left_hip_joint_pitch_to_yaw"/>
    <child link="left_femur"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_femur_to_knee" type="fixed">
    <parent link="left_femur"/>
    <child link="left_knee"/>
    <origin xyz="0 0 0.37"/>
  </joint>
  <joint name="left_knee_joint" type="revolute">
    <parent link="left_knee"/>
    <child link="left_tibia"/>
    <axis xyz="0 -1 0"/>
    <limit effort="1" lower="0" upper="2.35619449019" velocity="1"/>
  </joint>
  <joint name="left_tibia_to_ankle" type="fixed">
    <parent link="left_tibia"/>
    <child link="left_ankle"/>
    <origin rpy="0 1.57079632679 0" xyz="0 0 0.45"/>
  </joint>
  <link name="left_ankle_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="left_ankle_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="left_ankle_joint_roll" type="revolute">
    <parent link="left_ankle"/>
    <child link="left_ankle_joint_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_ankle_joint_pitch" type="revolute">
    <parent link="left_ankle_joint_roll_to_pitch"/>
    <child link="left_ankle_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="left_ankle_joint_yaw" type="revolute">
    <parent link="left_ankle_joint_pitch_to_yaw"/>
    <child link="left_foot"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <link name="spine_ball_to_right_clavicle_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="spine_ball_to_right_clavicle_roll" type="revolute">
    <parent link="upper_spine_ball"/>
    <child link="spine_ball_to_right_clavicle_roll_to_pitch"/>
    <origin rpy="1.30899632679 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="spine_ball_to_right_clavicle_pitch" type="revolute">
    <parent link="spine_ball_to_right_clavicle_roll_to_pitch"/>
    <child link="right_clavicle"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_clavicle_to_shoulder" type="fixed">
    <parent link="right_clavicle"/>
    <child link="right_shoulder"/>
    <origin xyz="0 0 0.2"/>
  </joint>
  <link name="right_shoulder_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="right_shoulder_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="right_shoulder_joint_roll" type="revolute">
    <parent link="right_shoulder"/>
    <child link="right_shoulder_joint_roll_to_pitch"/>
    <origin rpy="1.57079632679 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_shoulder_joint_pitch" type="revolute">
    <parent link="right_shoulder_joint_roll_to_pitch"/>
    <child link="right_shoulder_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_shoulder_joint_yaw" type="revolute">
    <parent link="right_shoulder_joint_pitch_to_yaw"/>
    <child link="right_humerus"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_humerus_to_elbow" type="fixed">
    <parent link="right_humerus"/>
    <child link="right_elbow"/>
    <origin xyz="0 0 0.33"/>
  </joint>
  <joint name="right_elbow_joint" type="revolute">
    <parent link="right_elbow"/>
    <child link="right_ulna"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="0" upper="3.14159265359" velocity="1"/>
  </joint>
  <joint name="right_ulna_to_wrist" type="fixed">
    <parent link="right_ulna"/>
    <child link="right_wrist"/>
    <origin xyz="0 0 0.25"/>
  </joint>
  <link name="right_wrist_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="right_wrist_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="right_wrist_joint_roll" type="revolute">
    <parent link="right_wrist"/>
    <child link="right_wrist_joint_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_wrist_joint_pitch" type="revolute">
    <parent link="right_wrist_joint_roll_to_pitch"/>
    <child link="right_wrist_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_wrist_joint_yaw" type="revolute">
    <parent link="right_wrist_joint_pitch_to_yaw"/>
    <child link="right_hand"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="center_pelvis_to_right_pelvis" type="fixed">
    <parent link="center_pelvis"/>
    <child link="right_pelvis"/>
    <origin rpy="-0.785398163397 0 0"/>
  </joint>
  <joint name="right_pelvis_to_hip" type="fixed">
    <parent link="right_pelvis"/>
    <child link="right_hip"/>
    <origin xyz="0 0 0.240416"/>
  </joint>
  <link name="right_hip_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="right_hip_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="right_hip_joint_roll" type="revolute">
    <parent link="right_hip"/>
    <child link="right_hip_joint_roll_to_pitch"/>
    <origin rpy="0.785398163397 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_hip_joint_pitch" type="revolute">
    <parent link="right_hip_joint_roll_to_pitch"/>
    <child link="right_hip_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_hip_joint_yaw" type="revolute">
    <parent link="right_hip_joint_pitch_to_yaw"/>
    <child link="right_femur"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_femur_to_knee" type="fixed">
    <parent link="right_femur"/>
    <child link="right_knee"/>
    <origin xyz="0 0 0.37"/>
  </joint>
  <joint name="right_knee_joint" type="revolute">
    <parent link="right_knee"/>
    <child link="right_tibia"/>
    <axis xyz="0 -1 0"/>
    <limit effort="1" lower="0" upper="2.35619449019" velocity="1"/>
  </joint>
  <joint name="right_tibia_to_ankle" type="fixed">
    <parent link="right_tibia"/>
    <child link="right_ankle"/>
    <origin rpy="0 1.57079632679 0" xyz="0 0 0.45"/>
  </joint>

  <!-- This works. -->
<!--
  <joint name="right_ankle_joint_roll" type="revolute">
    <parent link="right_ankle"/>
    <child link="right_foot"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
-->
  <!-- End of "This works" -->

  <!-- This causes a segmentation fault. -->
  <link name="right_ankle_joint_roll_to_pitch">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <link name="right_ankle_joint_pitch_to_yaw">
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
    </inertial>
  </link>
  <joint name="right_ankle_joint_roll" type="revolute">
    <parent link="right_ankle"/>
    <child link="right_ankle_joint_roll_to_pitch"/>
    <origin rpy="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_ankle_joint_pitch" type="revolute">
    <parent link="right_ankle_joint_roll_to_pitch"/>
    <child link="right_ankle_joint_pitch_to_yaw"/>
    <axis xyz="0 1 0"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <joint name="right_ankle_joint_yaw" type="revolute">
    <parent link="right_ankle_joint_pitch_to_yaw"/>
    <child link="right_foot"/>
    <axis xyz="0 0 1"/>
    <limit effort="1" lower="-0.785398163397" upper="0.785398163397" velocity="1"/>
  </joint>
  <!-- End of "This causes a segmentation fault" -->
</robot>
