<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="max_description">
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        rpy="0 0 0" />
      <mass
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        iyy="0.937020"
        iyz="0.001455"
        izz="0.987983" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
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      <material
        name="">
        <color
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/BASE_LINK.STL" />
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<link
    name="IMU_ICM42688_LINK">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
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      <material
        name="">
        <color
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/IMU_ICM42688_LINK.STL" />
      </geometry>
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  <joint
    name="IMU_ICM42688_JOINT"
    type="fixed">
    <origin
      xyz="0.0000 0.0000 0.0362"
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    <child
      link="IMU_ICM42688_LINK" />
    <axis
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    <limit
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      effort="0"
      velocity="0" />
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<link
    name="IMU_LUA300C_LINK">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        name="">
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        <mesh
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    name="IMU_LUA300C_JOINT"
    type="fixed">
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      upper="0"
      effort="0"
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<link
    name="F_AIRY_LINK">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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      <material
        name="">
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://max_description/meshes/F_AIRY_LINK.STL" />
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    name="F_AIRY_JOINT"
    type="fixed">
    <origin
      xyz="0.4043 0.0000 -0.0377"
      rpy="0 0 0" />
    <parent
      link="BASE_LINK" />
    <child
      link="F_AIRY_LINK" />
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      effort="0"
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<link
    name="F_IMX415_LINK">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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      <origin
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        rpy="0 0 0" />
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        <mesh
          filename="package://max_description/meshes/F_IMX415_LINK.STL" />
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  <joint
    name="F_IMX415_JOINT"
    type="fixed">
    <origin
      xyz="0.4123 0.0000 0.0378"
      rpy="0 0 0" />
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      effort="0"
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<link
    name="FAR_LIHGT_LINK">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://max_description/meshes/FAR_LIHGT_LINK.STL" />
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      <material
        name="">
        <color
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="package://max_description/meshes/FAR_LIHGT_LINK.STL" />
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  <joint
    name="FAR_LIHGT_JOINT"
    type="fixed">
    <origin
      xyz="0.4203 -0.0309 0.0283"
      rpy="0 0 0" />
    <parent
      link="BASE_LINK" />
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      link="FAR_LIHGT_LINK" />
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    <limit
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<link
    name="FBL_LIHGT_LINK">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        value="0" />
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    <visual>
      <origin
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        rpy="0 0 0" />
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        <mesh
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      <material
        name="">
        <color
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    <collision>
      <origin
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        <mesh
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  <joint
    name="FBL_LIHGT_JOINT"
    type="fixed">
    <origin
      xyz="0.4203 0.0309 0.0283"
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    <limit
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      effort="0"
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<link
    name="R_AIRY_LINK">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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    <visual>
      <origin
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      <material
        name="">
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      <origin
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    name="R_AIRY_JOINT"
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<link
    name="R_IMX415_LINK">
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      <origin
        xyz="0 0 0"
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      <material
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      <origin
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        <mesh
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    name="R_IMX415_JOINT"
    type="fixed">
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<link
    name="RAR_LIHGT_LINK">
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      <origin
        xyz="0 0 0"
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<link
    name="RBL_LIHGT_LINK">
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      <origin
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<link
    name="FAR_RADARA22_LINK">
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<link
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      xyz="0.0575 -0.039 0"
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      <origin
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        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FAR_FOOT_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FAR_FOOT_JOINT"
    type="continuous">
    <origin
      xyz="0 -0.0592 -0.28"
      rpy="0 0 0" />
    <parent
      link="FAR_KNEE_LINK" />
    <child
      link="FAR_FOOT_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="50"
      velocity="0" />
  </joint>
  <link
    name="FBL_ABAD_LINK">
    <inertial>
      <origin
        xyz="0.030211 0.015926 2.3073E-06"
        rpy="0 0 0" />
      <mass
        value="0.26957" />
      <inertia
        ixx="0.00020169"
        ixy="-7.0404E-05"
        ixz="1.4342E-08"
        iyy="0.00029273"
        iyz="7.5809E-09"
        izz="0.00025789" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_ABAD_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0.94902 0.89804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_ABAD_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FBL_ABAD_JOINT"
    type="revolute">
    <origin
      xyz="0.272 0.065 0.0002"
      rpy="0 0 0" />
    <parent
      link="BASE_LINK" />
    <child
      link="FBL_ABAD_LINK" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.523"
      upper="0.697"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="FBL_HIP_LINK">
    <inertial>
      <origin
        xyz="-0.00024776 0.054095 -0.12437"
        rpy="0 0 0" />
      <mass
        value="2.6525" />
      <inertia
        ixx="0.042044"
        ixy="-0.000008"
        ixz="0.000080"
        iyy="0.041643"
        iyz="0.005443"
        izz="0.002984" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_HIP_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_HIP_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FBL_HIP_JOINT"
    type="revolute">
    <origin
      xyz="0.0575 0.039 0"
      rpy="0.00017453 0 0" />
    <parent
      link="FBL_ABAD_LINK" />
    <child
      link="FBL_HIP_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.443"
      upper="2.443"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="FBL_KNEE_LINK">
    <inertial>
      <origin
        xyz="-9.0281E-05 0.024369 -0.17395"
        rpy="0 0 0" />
      <mass
        value="1.5888" />
      <inertia
        ixx="0.022185"
        ixy="-0.000003"
        ixz="-0.000012"
        iyy="0.022093"
        iyz="0.000132"
        izz="0.001572" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_KNEE_LINK.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://max_description/meshes/FBL_KNEE_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FBL_KNEE_JOINT"
    type="revolute">
    <origin
      xyz="0 0.0442 -0.26"
      rpy="0 0 0" />
    <parent
      link="FBL_HIP_LINK" />
    <child
      link="FBL_KNEE_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.801"
      upper="2.801"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="FBL_FOOT_LINK">
    <inertial>
      <origin
        xyz="2.0302E-07 0.007766 -1.006E-06"
        rpy="0 0 0" />
      <mass
        value="0.68796" />
      <inertia
        ixx="0.0022048"
        ixy="1.0716E-10"
        ixz="-1.131E-06"
        iyy="0.0041699"
        iyz="7.6787E-11"
        izz="0.0022106" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_FOOT_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/FBL_FOOT_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="FBL_FOOT_JOINT"
    type="continuous">
    <origin
      xyz="0 0.0592 -0.28"
      rpy="0 0 0" />
    <parent
      link="FBL_KNEE_LINK" />
    <child
      link="FBL_FOOT_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="50"
      velocity="0" />
  </joint>
  <link
    name="RAR_ABAD_LINK">
    <inertial>
      <origin
        xyz="-0.030211 -0.015926 -4.7238E-07"
        rpy="0 0 0" />
      <mass
        value="0.26957" />
      <inertia
        ixx="0.00020169"
        ixy="-7.0404E-05"
        ixz="2.0546E-09"
        iyy="0.00029273"
        iyz="1.5E-09"
        izz="0.00025789" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_ABAD_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0.94902 0.89804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_ABAD_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RAR_ABAD_JOINT"
    type="revolute">
    <origin
      xyz="-0.272 -0.065 0.0002"
      rpy="0 0 0" />
    <parent
      link="BASE_LINK" />
    <child
      link="RAR_ABAD_LINK" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.697"
      upper="0.523"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="RAR_HIP_LINK">
    <inertial>
      <origin
        xyz="0.00024776 -0.054095 -0.12437"
        rpy="0 0 0" />
      <mass
        value="2.6525" />
      <inertia
        ixx="0.042044"
        ixy="-0.000008"
        ixz="-0.000080"
        iyy="0.041643"
        iyz="-0.005443"
        izz="0.002984" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_HIP_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_HIP_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RAR_HIP_JOINT"
    type="revolute">
    <origin
      xyz="-0.0575 -0.039 0"
      rpy="0 0 0" />
    <parent
      link="RAR_ABAD_LINK" />
    <child
      link="RAR_HIP_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.443"
      upper="2.443"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="RAR_KNEE_LINK">
    <inertial>
      <origin
        xyz="9.0281E-05 -0.024369 -0.17395"
        rpy="0 0 0" />
      <mass
        value="1.5888" />
      <inertia
        ixx="0.022185"
        ixy="-0.000003"
        ixz="0.000012"
        iyy="0.022093"
        iyz="-0.000132"
        izz="0.001572" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_KNEE_LINK.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://max_description/meshes/RAR_KNEE_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RAR_KNEE_JOINT"
    type="revolute">
    <origin
      xyz="0 -0.0442 -0.26"
      rpy="0 0 0" />
    <parent
      link="RAR_HIP_LINK" />
    <child
      link="RAR_KNEE_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.801"
      upper="2.801"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="RAR_FOOT_LINK">
    <inertial>
      <origin
        xyz="-2.0294E-07 -0.007766 -1.006E-06"
        rpy="0 0 0" />
      <mass
        value="0.68796" />
      <inertia
        ixx="0.0022048"
        ixy="1.0789E-10"
        ixz="1.131E-06"
        iyy="0.0041699"
        iyz="7.6641E-11"
        izz="0.0022106" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_FOOT_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RAR_FOOT_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RAR_FOOT_JOINT"
    type="continuous">
    <origin
      xyz="0 -0.0592 -0.28"
      rpy="0 0 0" />
    <parent
      link="RAR_KNEE_LINK" />
    <child
      link="RAR_FOOT_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="50"
      velocity="0" />
  </joint>
  <link
    name="RBL_ABAD_LINK">
    <inertial>
      <origin
        xyz="-0.030211 0.015926 0.000000"
        rpy="0 0 0" />
      <mass
        value="0.26957" />
      <inertia
        ixx="0.00020169"
        ixy="0.000070"
        ixz="0.000000"
        iyy="0.00029273"
        iyz="0.000000"
        izz="0.00025879" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_ABAD_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_ABAD_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RBL_ABAD_JOINT"
    type="revolute">
    <origin
      xyz="-0.272 0.065 0.0002"
      rpy="0 0 0" />
    <parent
      link="BASE_LINK" />
    <child
      link="RBL_ABAD_LINK" />
    <axis
      xyz="1 0 0" />
    <limit
      lower="-0.523"
      upper="0.697"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="RBL_HIP_LINK">
    <inertial>
      <origin
        xyz="-0.00024776 0.054095 -0.12437"
        rpy="0 0 0" />
      <mass
        value="2.6525" />
      <inertia
        ixx="0.042044"
        ixy="-0.000008"
        ixz="0.000080"
        iyy="0.041643"
        iyz="0.005443"
        izz="0.002984" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_HIP_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.69804 0.69804 0.69804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_HIP_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RBL_HIP_JOINT"
    type="revolute">
    <origin
      xyz="-0.0575 0.039 0"
      rpy="0 0 0" />
    <parent
      link="RBL_ABAD_LINK" />
    <child
      link="RBL_HIP_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.443"
      upper="2.443"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="RBL_KNEE_LINK">
    <inertial>
      <origin
        xyz="-9.0281E-05 0.024369 -0.17395"
        rpy="0 0 0" />
      <mass
        value="1.5888" />
      <inertia
        ixx="0.022185"
        ixy="-0.000003"
        ixz="-0.000012"
        iyy="0.022093"
        iyz="0.000132"
        izz="0.001572" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_KNEE_LINK.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://max_description/meshes/RBL_KNEE_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RBL_KNEE_JOINT"
    type="revolute">
    <origin
      xyz="0 0.0442 -0.26"
      rpy="0 0 0" />
    <parent
      link="RBL_HIP_LINK" />
    <child
      link="RBL_KNEE_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-2.801"
      upper="2.801"
      effort="150"
      velocity="0" />
  </joint>
  <link
    name="RBL_FOOT_LINK">
    <inertial>
      <origin
        xyz="2.0294E-07 0.007766 -1.006E-06"
        rpy="0 0 0" />
      <mass
        value="0.68796" />
      <inertia
        ixx="0.0022048"
        ixy="1.0789E-10"
        ixz="-1.131E-06"
        iyy="0.0041699"
        iyz="7.6642E-11"
        izz="0.0022106" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_FOOT_LINK.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.29804 0.29804 0.29804 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://max_description/meshes/RBL_FOOT_LINK.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="RBL_FOOT_JOINT"
    type="continuous">
    <origin
      xyz="0 0.0592 -0.28"
      rpy="0 0 0" />
    <parent
      link="RBL_KNEE_LINK" />
    <child
      link="RBL_FOOT_LINK" />
    <axis
      xyz="0 1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="50"
      velocity="0" />
  </joint>
</robot>
