<robot
  name="T12">
  <link
    name="Body">
    <inertial>
      <origin
        xyz="0.015789 0.0084982 0.11668"
        rpy="0 0 0" />
      <mass
        value="266.06" />
      <inertia
        ixx="225.36"
        ixy="0.054583"
        ixz="0.010358"
        iyy="210.35"
        iyz="-0.0001937"
        izz="424.6" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Body.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Body.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="Hip1">
    <inertial>
      <origin
        xyz="0.12059 0.04703 -0.043975"
        rpy="0 0 0" />
      <mass
        value="10.161" />
      <inertia
        ixx="0.69317"
        ixy="0.0073762"
        ixz="0.040711"
        iyy="0.34376"
        iyz="0.0014897"
        izz="0.9152" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HY1"
    type="revolute">
    <origin
      xyz="1.7322 0.99572 0.41034"
      rpy="-4.4608E-16 2.8513E-16 0.5236" />
    <parent
      link="Body" />
    <child
      link="Hip1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Thigh1">
    <inertial>
      <origin
        xyz="0.37052 1.2567E-08 -0.0016621"
        rpy="0 0 0" />
      <mass
        value="14.238" />
      <inertia
        ixx="1.0008"
        ixy="7.0442E-08"
        ixz="0.0087687"
        iyy="2.0253"
        iyz="-0.00024727"
        izz="1.3252" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HP1"
    type="revolute">
    <origin
      xyz="0.36808 0 0"
      rpy="-1.5708 1.2704E-14 -2.2204E-16" />
    <parent
      link="Hip1" />
    <child
      link="Thigh1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.9199"
      upper="1.5708"
      effort="7500"
      velocity="0" />
  </joint>
  <link
    name="Knee1">
    <inertial>
      <origin
        xyz="0.017762 -0.027385 0.0067752"
        rpy="0 0 0" />
      <mass
        value="5.7913" />
      <inertia
        ixx="0.12768"
        ixy="0.0042111"
        ixz="-0.00069417"
        iyy="0.12196"
        iyz="0.0012334"
        izz="0.079088" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KP1"
    type="revolute">
    <origin
      xyz="0.8627 0 0"
      rpy="2.2204E-16 2.6822E-16 1.5708" />
    <parent
      link="Thigh1" />
    <child
      link="Knee1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.9199"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Shin1">
    <inertial>
      <origin
        xyz="-1.4482E-09 0.00011789 0.4127"
        rpy="0 0 0" />
      <mass
        value="10.201" />
      <inertia
        ixx="0.7541"
        ixy="-0.00016423"
        ixz="3.2671E-09"
        iyy="0.53994"
        iyz="-0.00028063"
        izz="0.35892" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KR1"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -2.7791E-17 8.7217E-15" />
    <parent
      link="Knee1" />
    <child
      link="Shin1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Ankle1">
    <inertial>
      <origin
        xyz="0.020168 -0.026001 0.0079686"
        rpy="0 0 0" />
      <mass
        value="5.108" />
      <inertia
        ixx="0.094931"
        ixy="0.0040571"
        ixz="-0.00081815"
        iyy="0.089357"
        iyz="0.00089845"
        izz="0.073015" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AP1"
    type="revolute">
    <origin
      xyz="0 0 0.79818"
      rpy="-1.5708 -1.3823E-15 -9.3729E-17" />
    <parent
      link="Shin1" />
    <child
      link="Ankle1" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="1350"
      velocity="0" />
  </joint>
  <link
    name="Foot1">
    <inertial>
      <origin
        xyz="-3.0189E-05 0.0041753 0.55175"
        rpy="0 0 0" />
      <mass
        value="27.416" />
      <inertia
        ixx="2.0991"
        ixy="-4.1499E-05"
        ixz="6.0881E-05"
        iyy="2.468"
        iyz="0.023298"
        izz="0.8501" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AR1"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 4.5989E-16 1.2639E-15" />
    <parent
      link="Ankle1" />
    <child
      link="Foot1" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Hip2">
    <inertial>
      <origin
        xyz="0.11841 0.050794 -0.043975"
        rpy="0 0 0" />
      <mass
        value="10.161" />
      <inertia
        ixx="0.69317"
        ixy="0.0073791"
        ixz="0.040711"
        iyy="0.34375"
        iyz="0.0014908"
        izz="0.91521" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HY2"
    type="revolute">
    <origin
      xyz="0.0037717 1.998 0.41034"
      rpy="-4.4608E-16 2.8513E-16 1.5708" />
    <parent
      link="Body" />
    <child
      link="Hip2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Thigh2">
    <inertial>
      <origin
        xyz="0.36835 1.2571E-08 0.0020978"
        rpy="0 0 0" />
      <mass
        value="14.238" />
      <inertia
        ixx="1.0008"
        ixy="7.0776E-08"
        ixz="0.0088078"
        iyy="2.0253"
        iyz="-0.00024727"
        izz="1.3252" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HP2"
    type="revolute">
    <origin
      xyz="0.36808 0 0"
      rpy="-1.5708 1.2704E-14 -2.1472E-16" />
    <parent
      link="Hip2" />
    <child
      link="Thigh2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.9199"
      upper="1.5708"
      effort="7500"
      velocity="0" />
  </joint>
  <link
    name="Knee2">
    <inertial>
      <origin
        xyz="0.017762 -0.025217 0.010531"
        rpy="0 0 0" />
      <mass
        value="5.7913" />
      <inertia
        ixx="0.12768"
        ixy="0.0042106"
        ixz="-0.00069509"
        iyy="0.12197"
        iyz="0.0012317"
        izz="0.079085" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KP2"
    type="revolute">
    <origin
      xyz="0.8627 0 0"
      rpy="2.2937E-16 2.3338E-16 1.5708" />
    <parent
      link="Thigh2" />
    <child
      link="Knee2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.9199"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Shin2">
    <inertial>
      <origin
        xyz="-1.3842E-09 0.0038981 0.41085"
        rpy="0 0 0" />
      <mass
        value="10.201" />
      <inertia
        ixx="0.75448"
        ixy="-0.00016423"
        ixz="3.1853E-09"
        iyy="0.54028"
        iyz="3.2414E-05"
        izz="0.35896" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KR2"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -2.7791E-17 8.7217E-15" />
    <parent
      link="Knee2" />
    <child
      link="Shin2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Ankle2">
    <inertial>
      <origin
        xyz="0.020168 -0.023832 0.011725"
        rpy="0 0 0" />
      <mass
        value="5.108" />
      <inertia
        ixx="0.09493"
        ixy="0.0040565"
        ixz="-0.00081912"
        iyy="0.089358"
        iyz="0.00089727"
        izz="0.073013" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AP2"
    type="revolute">
    <origin
      xyz="0 0 0.79818"
      rpy="-1.5708 -1.4672E-15 -1.2695E-16" />
    <parent
      link="Shin2" />
    <child
      link="Ankle2" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="1350"
      velocity="0" />
  </joint>
  <link
    name="Foot2">
    <inertial>
      <origin
        xyz="-3.0121E-05 0.007929 0.54959"
        rpy="0 0 0" />
      <mass
        value="27.416" />
      <inertia
        ixx="2.0992"
        ixy="-4.1277E-05"
        ixz="6.0958E-05"
        iyy="2.468"
        iyz="0.023238"
        izz="0.85011" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AR2"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 4.2667E-16 1.3488E-15" />
    <parent
      link="Ankle2" />
    <child
      link="Foot2" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Hip3">
    <inertial>
      <origin
        xyz="0.12059 0.054559 -0.043975"
        rpy="0 0 0" />
      <mass
        value="10.161" />
      <inertia
        ixx="0.69318"
        ixy="0.0073858"
        ixz="0.040711"
        iyy="0.34376"
        iyz="0.0014917"
        izz="0.91522" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HY3"
    type="revolute">
    <origin
      xyz="-1.7284 1.0023 0.41034"
      rpy="-4.4608E-16 3.1089E-16 2.618" />
    <parent
      link="Body" />
    <child
      link="Hip3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Thigh3">
    <inertial>
      <origin
        xyz="0.37052 1.2575E-08 0.0058577"
        rpy="0 0 0" />
      <mass
        value="14.238" />
      <inertia
        ixx="1.0008"
        ixy="7.0333E-08"
        ixz="0.0088473"
        iyy="2.0253"
        iyz="-0.00024727"
        izz="1.3252" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HP3"
    type="revolute">
    <origin
      xyz="0.36808 0 0"
      rpy="-1.5708 1.2512E-14 5.7201E-30" />
    <parent
      link="Hip3" />
    <child
      link="Thigh3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.9199"
      upper="1.5708"
      effort="7500"
      velocity="0" />
  </joint>
  <link
    name="Knee3">
    <inertial>
      <origin
        xyz="0.017762 -0.027385 0.014286"
        rpy="0 0 0" />
      <mass
        value="5.7913" />
      <inertia
        ixx="0.12768"
        ixy="0.0042111"
        ixz="-0.00069602"
        iyy="0.12197"
        iyz="0.001229"
        izz="0.079087" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KP3"
    type="revolute">
    <origin
      xyz="0.8627 0 0"
      rpy="2.2204E-16 3.2661E-16 1.5708" />
    <parent
      link="Thigh3" />
    <child
      link="Knee3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.9199"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Shin3">
    <inertial>
      <origin
        xyz="-1.4539E-09 0.0076634 0.41302"
        rpy="0 0 0" />
      <mass
        value="10.201" />
      <inertia
        ixx="0.75448"
        ixy="-0.00016423"
        ixz="3.2688E-09"
        iyy="0.54028"
        iyz="3.6604E-05"
        izz="0.35897" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KR3"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -2.7791E-17 8.7217E-15" />
    <parent
      link="Knee3" />
    <child
      link="Shin3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Ankle3">
    <inertial>
      <origin
        xyz="0.020167 -0.026001 0.015481"
        rpy="0 0 0" />
      <mass
        value="5.108" />
      <inertia
        ixx="0.094934"
        ixy="0.004057"
        ixz="-0.00082009"
        iyy="0.089361"
        iyz="0.00089501"
        izz="0.073015" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AP3"
    type="revolute">
    <origin
      xyz="0 0 0.79818"
      rpy="-1.5708 -1.426E-15 -1.3449E-16" />
    <parent
      link="Shin3" />
    <child
      link="Ankle3" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="1350"
      velocity="0" />
  </joint>
  <link
    name="Foot3">
    <inertial>
      <origin
        xyz="-3.0139E-05 0.011683 0.55175"
        rpy="0 0 0" />
      <mass
        value="27.416" />
      <inertia
        ixx="2.0991"
        ixy="-4.1381E-05"
        ixz="6.0898E-05"
        iyy="2.468"
        iyz="0.023183"
        izz="0.85012" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AR3"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 4.1913E-16 1.3076E-15" />
    <parent
      link="Ankle3" />
    <child
      link="Foot3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Hip4">
    <inertial>
      <origin
        xyz="0.12059 0.04703 -0.043975"
        rpy="0 0 0" />
      <mass
        value="10.161" />
      <inertia
        ixx="0.69317"
        ixy="0.0073762"
        ixz="0.040711"
        iyy="0.34376"
        iyz="0.0014897"
        izz="0.9152" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HY4"
    type="revolute">
    <origin
      xyz="-1.7322 -0.99572 0.41034"
      rpy="-4.4608E-16 2.8513E-16 -2.618" />
    <parent
      link="Body" />
    <child
      link="Hip4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Thigh4">
    <inertial>
      <origin
        xyz="0.37052 1.2567E-08 -0.0016621"
        rpy="0 0 0" />
      <mass
        value="14.238" />
      <inertia
        ixx="1.0008"
        ixy="7.0442E-08"
        ixz="0.0087687"
        iyy="2.0253"
        iyz="-0.00024727"
        izz="1.3252" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HP4"
    type="revolute">
    <origin
      xyz="0.36808 0 0"
      rpy="-1.5708 1.2704E-14 -2.7756E-16" />
    <parent
      link="Hip4" />
    <child
      link="Thigh4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.9199"
      upper="1.5708"
      effort="7500"
      velocity="0" />
  </joint>
  <link
    name="Knee4">
    <inertial>
      <origin
        xyz="0.017762 -0.027385 0.0067752"
        rpy="0 0 0" />
      <mass
        value="5.7913" />
      <inertia
        ixx="0.12768"
        ixy="0.0042111"
        ixz="-0.00069417"
        iyy="0.12196"
        iyz="0.0012334"
        izz="0.079088" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KP4"
    type="revolute">
    <origin
      xyz="0.8627 0 0"
      rpy="2.2204E-16 2.645E-16 1.5708" />
    <parent
      link="Thigh4" />
    <child
      link="Knee4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.9199"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Shin4">
    <inertial>
      <origin
        xyz="-1.4482E-09 0.00011789 0.4127"
        rpy="0 0 0" />
      <mass
        value="10.201" />
      <inertia
        ixx="0.7541"
        ixy="-0.00016423"
        ixz="3.2671E-09"
        iyy="0.53994"
        iyz="-0.00028063"
        izz="0.35892" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KR4"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -2.7791E-17 8.7217E-15" />
    <parent
      link="Knee4" />
    <child
      link="Shin4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Ankle4">
    <inertial>
      <origin
        xyz="0.020168 -0.026001 0.0079686"
        rpy="0 0 0" />
      <mass
        value="5.108" />
      <inertia
        ixx="0.094931"
        ixy="0.0040571"
        ixz="-0.00081815"
        iyy="0.089357"
        iyz="0.00089845"
        izz="0.073015" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AP4"
    type="revolute">
    <origin
      xyz="0 0 0.79818"
      rpy="-1.5708 -1.3823E-15 -9.3729E-17" />
    <parent
      link="Shin4" />
    <child
      link="Ankle4" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="1350"
      velocity="0" />
  </joint>
  <link
    name="Foot4">
    <inertial>
      <origin
        xyz="-3.0257E-05 0.0041752 0.55175"
        rpy="0 0 0" />
      <mass
        value="27.416" />
      <inertia
        ixx="2.0991"
        ixy="-4.1743E-05"
        ixz="6.0625E-05"
        iyy="2.468"
        iyz="0.023298"
        izz="0.8501" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot4.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot4.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AR4"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 4.5989E-16 1.2639E-15" />
    <parent
      link="Ankle4" />
    <child
      link="Foot4" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Hip5">
    <inertial>
      <origin
        xyz="0.11841 0.050794 -0.043975"
        rpy="0 0 0" />
      <mass
        value="10.161" />
      <inertia
        ixx="0.69317"
        ixy="0.0073791"
        ixz="0.040711"
        iyy="0.34375"
        iyz="0.0014908"
        izz="0.91521" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HY5"
    type="revolute">
    <origin
      xyz="-0.0037717 -1.998 0.41034"
      rpy="-4.4608E-16 2.8513E-16 -1.5708" />
    <parent
      link="Body" />
    <child
      link="Hip5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Thigh5">
    <inertial>
      <origin
        xyz="0.36835 1.2571E-08 0.0020978"
        rpy="0 0 0" />
      <mass
        value="14.238" />
      <inertia
        ixx="1.0008"
        ixy="7.0776E-08"
        ixz="0.0088078"
        iyy="2.0253"
        iyz="-0.00024727"
        izz="1.3252" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HP5"
    type="revolute">
    <origin
      xyz="0.36808 0 0"
      rpy="-1.5708 1.2704E-14 -1.1102E-16" />
    <parent
      link="Hip5" />
    <child
      link="Thigh5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.9199"
      upper="1.5708"
      effort="7500"
      velocity="0" />
  </joint>
  <link
    name="Knee5">
    <inertial>
      <origin
        xyz="0.017762 -0.025217 0.010531"
        rpy="0 0 0" />
      <mass
        value="5.7913" />
      <inertia
        ixx="0.12768"
        ixy="0.0042106"
        ixz="-0.00069509"
        iyy="0.12197"
        iyz="0.0012317"
        izz="0.079085" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KP5"
    type="revolute">
    <origin
      xyz="0.8627 0 0"
      rpy="3.3307E-16 2.741E-16 1.5708" />
    <parent
      link="Thigh5" />
    <child
      link="Knee5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.9199"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Shin5">
    <inertial>
      <origin
        xyz="-1.3855E-09 0.0038831 0.41053"
        rpy="0 0 0" />
      <mass
        value="10.201" />
      <inertia
        ixx="0.75409"
        ixy="-0.00016423"
        ixz="3.1801E-09"
        iyy="0.53993"
        iyz="-0.00027675"
        izz="0.35892" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KR5"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -2.7791E-17 8.7217E-15" />
    <parent
      link="Knee5" />
    <child
      link="Shin5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Ankle5">
    <inertial>
      <origin
        xyz="0.020168 -0.023832 0.011725"
        rpy="0 0 0" />
      <mass
        value="5.108" />
      <inertia
        ixx="0.09493"
        ixy="0.0040565"
        ixz="-0.00081912"
        iyy="0.089358"
        iyz="0.00089727"
        izz="0.073013" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AP5"
    type="revolute">
    <origin
      xyz="0 0 0.79818"
      rpy="-1.5708 -1.4672E-15 -1.2364E-16" />
    <parent
      link="Shin5" />
    <child
      link="Ankle5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="1350"
      velocity="0" />
  </joint>
  <link
    name="Foot5">
    <inertial>
      <origin
        xyz="-3.0002E-05 0.0079289 0.54959"
        rpy="0 0 0" />
      <mass
        value="27.416" />
      <inertia
        ixx="2.0992"
        ixy="-4.0815E-05"
        ixz="6.1178E-05"
        iyy="2.468"
        iyz="0.023238"
        izz="0.85011" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot5.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot5.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AR5"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 4.2998E-16 1.3488E-15" />
    <parent
      link="Ankle5" />
    <child
      link="Foot5" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Hip6">
    <inertial>
      <origin
        xyz="0.12059 0.054559 -0.043975"
        rpy="0 0 0" />
      <mass
        value="10.161" />
      <inertia
        ixx="0.69318"
        ixy="0.0073858"
        ixz="0.040711"
        iyy="0.34376"
        iyz="0.0014917"
        izz="0.91522" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Hip6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HY6"
    type="revolute">
    <origin
      xyz="1.7284 -1.0023 0.41034"
      rpy="-4.4608E-16 2.8513E-16 -0.5236" />
    <parent
      link="Body" />
    <child
      link="Hip6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Thigh6">
    <inertial>
      <origin
        xyz="0.37052 1.2575E-08 0.0058577"
        rpy="0 0 0" />
      <mass
        value="14.238" />
      <inertia
        ixx="1.0008"
        ixy="7.0333E-08"
        ixz="0.0088473"
        iyy="2.0253"
        iyz="-0.00024727"
        izz="1.3252" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Thigh6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="HP6"
    type="revolute">
    <origin
      xyz="0.36808 0 0"
      rpy="-1.5708 1.2704E-14 -2.2204E-16" />
    <parent
      link="Hip6" />
    <child
      link="Thigh6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-1.9199"
      upper="1.5708"
      effort="7500"
      velocity="0" />
  </joint>
  <link
    name="Knee6">
    <inertial>
      <origin
        xyz="0.017762 -0.027385 0.014286"
        rpy="0 0 0" />
      <mass
        value="5.7913" />
      <inertia
        ixx="0.12768"
        ixy="0.0042111"
        ixz="-0.00069602"
        iyy="0.12197"
        iyz="0.001229"
        izz="0.079087" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Knee6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KP6"
    type="revolute">
    <origin
      xyz="0.8627 0 0"
      rpy="2.7756E-16 2.3418E-16 1.5708" />
    <parent
      link="Thigh6" />
    <child
      link="Knee6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.9199"
      upper="3.1416"
      effort="2700"
      velocity="0" />
  </joint>
  <link
    name="Shin6">
    <inertial>
      <origin
        xyz="-1.454E-09 0.0076484 0.4127"
        rpy="0 0 0" />
      <mass
        value="10.201" />
      <inertia
        ixx="0.7541"
        ixy="-0.00016423"
        ixz="3.2639E-09"
        iyy="0.53994"
        iyz="-0.00027259"
        izz="0.35892" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Shin6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="KR6"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -2.7791E-17 8.7217E-15" />
    <parent
      link="Knee6" />
    <child
      link="Shin6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
  <link
    name="Ankle6">
    <inertial>
      <origin
        xyz="0.020167 -0.026001 0.015481"
        rpy="0 0 0" />
      <mass
        value="5.108" />
      <inertia
        ixx="0.094934"
        ixy="0.004057"
        ixz="-0.00082009"
        iyy="0.089361"
        iyz="0.00089501"
        izz="0.073015" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Ankle6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AP6"
    type="revolute">
    <origin
      xyz="0 0 0.79818"
      rpy="-1.5708 -1.4121E-15 -1.1045E-16" />
    <parent
      link="Shin6" />
    <child
      link="Ankle6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-2.0944"
      upper="2.0944"
      effort="1350"
      velocity="0" />
  </joint>
  <link
    name="Foot6">
    <inertial>
      <origin
        xyz="-3.0159E-05 0.011683 0.55175"
        rpy="0 0 0" />
      <mass
        value="27.416" />
      <inertia
        ixx="2.0991"
        ixy="-4.1451E-05"
        ixz="6.0863E-05"
        iyy="2.468"
        iyz="0.023183"
        izz="0.85012" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot6.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.75294 0.75294 0.75294 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://T12/meshes/Foot6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="AR6"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 4.4317E-16 1.2937E-15" />
    <parent
      link="Ankle6" />
    <child
      link="Foot6" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-3.1416"
      upper="3.1416"
      effort="900"
      velocity="0" />
  </joint>
</robot>