Hey Everyone,
I've been having some trouble with Rviz recently. I have just switched over from boxturtle to cturtle and the urdf model that was working in boxturtle stopped working in cturtle. What happens is whenever I launch my launch file for the urdf, the CPU usage shoots up to somewhere between 95 and 98%. When Rviz opens, it freezes up.  I've gone back and forth between boxturtle and cturtle and I never have this problem in boxturtle. Below, I'll show my urdf but I'm hesitant to release the meshes because they are not mine to post. 

Some help with this would be greatly appreciated
Gavin
-----------------

<robot name="sparky">

<resource type="stl_meshes" location="/home/gavin/usc-cturtle/stacks/interaction-ros-pkg/sparky/sparky_model/meshes
"/>

<!---------------------Sparky Body ------------------------------>

<link name="world" />

<link name="shoulders">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="1.15 1.57 3.78" />    
    <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>    
    <geometry>
        <mesh filename="package://sparky_model/meshes/Shoulders.stl"/>
    </geometry>
    </visual>
</link>

<link name="centerplate">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
         <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/CenterPlate.stl"/>
    </geometry>
    </visual>
</link>


<link name="stand">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 -0" rpy="0 0 -1.57" />
    <material name="grey" >
         <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
  </material>    
    <geometry>
        <mesh filename="package://sparky_model/meshes/Stand.stl"/>
    </geometry>
    </visual>
    
</link>    

    
<link name="hips">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="0 1.57 1.57" />
        <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>    
    <geometry>
        <mesh filename="package://sparky_model/meshes/Hips.stl"/>
    </geometry>
    </visual>
</link>

<joint name="worldjoint" type="fixed">
    <origin xyz="0 0 12" rpy="0 0 0"/>
    <parent link="world"/>
    <child link="stand"/>
</joint>

<joint name="hipjoint" type="fixed">
    <origin xyz="-.1 .7 -.5" rpy="0 0 0"/>
    <parent link="stand"/>
    <child link="hips"/>
</joint>


<!--
-----------------------------Sparky NECK ------------------------------
-->

<link name="throat">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="0 1.57 0" />
         <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/neck.stl" />
    </geometry>
    </visual>
</link>

<joint name="HeadNod" type="revolute">
    <origin xyz="0 0 2.53" rpy=".28 0 0"/>
    <axis xyz="1 0 0" /> 
          <limit upper=".785" lower="-.279" effort="10" velocity="3" />
    <parent link="throat"/>
    <child link="head"/>
</joint>

<joint name="HeadTurn" type="revolute">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1" /> 
     <limit upper=".785" lower="-.436" effort="10" velocity="3" />
    <parent link="shoulders"/>
    <child link="throat"/>
</joint>

<!--
-----------------------------Sparky HEAD ------------------------------
-->
<link name="head">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 -2.5 1" rpy="1.57 0 1.57" />
  <material name="grey" >
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Head2.stl" />
    </geometry>
    </visual>
</link>

<link name="lowerjaw">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 -2.65 -2.15" rpy="0 1.57 0" />
     <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Jaw.stl" />
    </geometry>
    </visual>
</link>

<joint name="Mouth" type="continuous">
    <origin xyz="0 .3 0" rpy="1.19 0 0"/>
        <axis xyz="1 0 0 " /> 
    <parent link="head"/>
    <child link="lowerjaw"/>
</joint>


<!--
-----------------------------Sparky EYES ------------------------------
-->

<link name="Reye">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="1.57 3.14 0" />
        <material name="white" >
            <color rgba="1 1 1 1" />
        </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Eye.stl" />
    </geometry>
    </visual>
</link>



<link name="Leye">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="1.57 3.14 0" />
            <material name="white" >
      <color rgba="1 1 1 1" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Eye.stl" />
    </geometry>
    </visual>
</link>


<link name="LLid">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-.03 .4 0" rpy="0 0 -1.57" />
        <material name="Gold" >
            <color rgba=".3 .2 0 .4" />
        </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/EyeLid.stl" />
    </geometry>
    </visual>
</link>



<link name="RLid">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz=".03 .4 0" rpy="0 0 -1.57" />
            <material name="Gold" />
    <geometry>
        <mesh filename="package://sparky_model/meshes/EyeLid.stl" />
    </geometry>
    </visual>
</link>



<link name="RPupil">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 .3 0" rpy="0 0 0" />
        <material name="Black" >
            <color rgba="0 0 0 0" />
        </material>
    <geometry>
        <sphere radius=".2" />
    </geometry>
    </visual>
</link>


    
<link name="LPupil">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 .3 0" rpy="0 0 0" />
        <material name="Black" >
            <color rgba="0 0 0 0" />
        </material>
    <geometry>
        <sphere radius=".2" />
    </geometry>
    </visual>
</link>



<link name="RIris">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 .2 0" rpy="0 0 0" />
        <material name="LightBlue" >
            <color rgba="0 .4 .4 0" />
        </material>
    <geometry>
        <sphere radius=".35" />
    </geometry>
    </visual>
</link>


    
<link name="LIris">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 .15 0" rpy="0 0 0" />
        <material name="LightBlue" >

        </material>
    <geometry>
        <sphere radius=".4" />
    </geometry>
    </visual>
</link>



<link name="EyeLPin">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="-1.57 1.57 0" />
            <material name="grey" />
    <geometry>
        <mesh filename="package://sparky_model/meshes/EyeLPin.stl" />
    </geometry>
    </visual>
</link>



<link name="EyeBeam">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="grey" />
    <geometry>
        <mesh filename="package://sparky_model/meshes/EyeBeam.stl" />
    </geometry>
    </visual>
</link>


    
    <link name="EyeBallPin">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz=".25 -1.31 -.066" rpy="1.57 0 2.15" />
    <material name="whitegray" >
      <color rgba=".8 .8 .8 .8" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/EyeBallPin.stl" />
    </geometry>
    </visual>
</link>



    <link name="EyeBallPin2">

    <inetrial>
        <mass value="2.2"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz=".25 -1.31 -.066" rpy="1.57 0 2.12" />
            <material name="whitegray" />
    <geometry>
        <mesh filename="package://sparky_model/meshes/EyeBallPin.stl" />
    </geometry>
    </visual>
</link>



<joint name="EyesLtRt" type="revolute">
    <origin xyz=".6 1.43 .82" rpy="0 0 0"/>
    <axis xyz="0 0 1" /> 
    <limit upper=".698" lower="-.524" effort="10" velocity="3" />
    <parent link="head"/>
    <child link="Reye"/>
</joint>

<joint name="ReyeJoint" type="revolute">
    <origin xyz="-.6 1.43 .82" rpy="0 0 0"/>
    <axis xyz="0 0 1" /> 
    <limit upper=".698" lower="-.524" effort="10" velocity="3" />
    <parent link="head"/>
    <child link="Leye"/>
</joint>

<joint name="EyeBlink" type="revolute">
    <origin xyz="-.6 1.43 .82" rpy="1.57 0 0"/>
    <axis xyz="1 0 0" /> 
      <limit upper="1.431" lower=".349" effort="10" velocity="3" />    
    <parent link="head"/>
    <child link="LLid"/>
</joint>

<joint name="RLidJoint" type="revolute">
    <origin xyz=".6 1.43 .82" rpy="1.57 0 0"/>
    <axis xyz="1 0 0" /> 
    <limit upper="1.431" lower=".349" effort="10" velocity="3" />
    <parent link="head"/>
    <child link="RLid"/>
</joint>

<joint name="RPJoint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Reye"/>
    <child link="RPupil"/>
</joint>

<joint name="LPJoint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Leye"/>
    <child link="LPupil"/>    
</joint>

<joint name="RIrJoint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Reye"/>
    <child link="RIris"/>
</joint>

<joint name="LIrJoint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="Leye"/>
    <child link="LIris"/>    
</joint>

<joint name="LPinJoint" type="continuous">
    <origin xyz="0 .7 1.25" rpy="0 0 0"/>
    <axis xyz="0 1 0" /> 
    <limit upper="1.431" lower=".349" effort="10" velocity="3" />
    <parent link="head"/>
    <child link="EyeLPin"/>
</joint>

<joint name="EyeBeamJoint" type="prismatic">
    <origin xyz=".055 .85 .6" rpy="0 0 0"/>
    <axis xyz="1 0 0" /> 
    <limit upper="2" lower="-2" effort="10" velocity="3" />
    <parent link="head"/>
    <child link="EyeBeam"/>
</joint>

<joint name="EyeBallPinJoint" type="revolute">
    <origin xyz=".6 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1" /> 
    <limit upper=".698" lower="-.524" effort="10" velocity="3" />
    <parent link="EyeBeam"/>
    <child link="EyeBallPin"/>
</joint>

<joint name="EyeBallPinJoint2" type="revolute">
    <origin xyz="-.6 0 0" rpy="0 0 0"/>
    <axis xyz="0 0 1" /> 
    <limit upper=".698" lower="-.524" effort="10" velocity="3" />
    <parent link="EyeBeam"/>
    <child link="EyeBallPin2"/>
</joint>

<!--
-----------------------Sparky  Right ARM ---------------------
-->

<link name="rightbicept" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 .15 -.5" rpy="1.63 -.08 -1.57" />
    <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/RightBicept.stl" />
    </geometry>
    </visual>
</link>

<link name="rightshoulderball" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz=".53 0 -.1" rpy="4 1.57 .35" />
        <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/ShoulderConnecter.stl" />
    </geometry>
    </visual>
</link>

<link name="rightforearm" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz=".2 3 .08" rpy="0 3.92 0" />
        <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/RightForearm.stl" />
    </geometry>
    </visual>
</link>


<link name="righthand" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 .9 -.52" rpy="-1.57 0 1.57" />
    <material name="whitegray" >
      <color rgba=".8 .8 .8 .8" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/RightHand.stl" scale="1 1 1" />
    </geometry>
    </visual>
</link>

<joint name="RtArmForward" type="revolute">
    <origin xyz="2.67 -.2 .1" rpy="0 0 0"/>
    <axis xyz="1 0 0" /> 
      <limit upper="4" lower="0" effort="10" velocity="3" />
    <parent link="shoulders"/>
    <child link="rightshoulderball"/>
</joint>

<joint name="RtArmOut" type="revolute">
    <origin xyz="0 0 0" rpy=".28 0 0"/>
    <axis xyz="0 1 0" /> 
      <limit upper="1.257" lower=".052" effort="10" velocity="3" />
    <parent link="rightshoulderball"/>
    <child link="rightbicept"/>
</joint>

<joint name="RtElbow" type="revolute">
    <origin xyz="0 -.2 -3.5" rpy="1.8 0 .785"/>
    <axis xyz="1 0 0" /> 
          <limit upper="1.815" lower=".227" effort="10" velocity="3" />
    <parent link="rightbicept"/>
    <child link="rightforearm" />
</joint>

<joint name="RtWrist" type="revolute">
    <origin xyz=".12 -3.6 .95" rpy ="-1.8 0 0" />
    <axis xyz="1 0 0" /> 
      <limit upper=".785" lower="-1.57" effort="10" velocity="3" />
    <parent link="rightforearm"/>
    <child link="righthand" />
</joint>

<!--
-----------------------Sparky LEFT ARM ---------------------
-->

<link name="leftbicept" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz=".2 .2 -.5" rpy="-1.53 3.2 0" />
         <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/LeftBicept.stl" />
    </geometry>
    </visual>
    
</link>

<link name="leftshoulderball" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="2.8 .15 -.15" rpy=".4 -1.57 .15" />
         <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/LeftShoulderConnector.stl" />
    </geometry>
    </visual>
</link>



<link name="leftforearm" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-1.05 6.6 0" rpy="0 2.355 .3" />
    <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/LeftForearm.stl" />
    </geometry>
    </visual>
</link>


<link name="lefthand" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-.85 0 -.5" rpy="-1.57 0 3.14" />
    <material name="whitegray" >
      <color rgba=".8 .8 .8 .8" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/LeftHand.stl" />
    </geometry>
    </visual>
</link>

<joint name="LtArmForward" type="revolute">
    <origin xyz="-2.67 .2 .05" rpy="3.14 0 0"/>
    <axis xyz="1 0 0" /> 
          <limit upper="1.257" lower=".035" effort="10" velocity="3" />
    <parent link="shoulders"/>
    <child link="leftshoulderball"/>
</joint>

<joint name="LtArmOut" type="revolute">
    <origin xyz="0 0 0" rpy="3.42 0 0"/>
    <axis xyz="0 1 0" /> 
          <limit upper="1.344" lower="0" effort="10" velocity="3" />
    <parent link="leftshoulderball"/>
    <child link="leftbicept"/>
</joint>

<joint name="LtElbow" type="revolute">
    <parent link="leftbicept" />
    <child link="leftforearm" />
          <limit upper="1.833" lower=".262" effort="10" velocity="3" />
    <origin xyz="0 .1 -3.51" rpy="-1.57 0 .785" />
    <axis xyz="0 0 1" /> 
</joint>

<joint name="LtWrist" type="continuous">
    <origin xyz="-.18 3.71 .05" rpy="1.57 0 0" />
    <axis xyz="0 1 0" /> 
    <parent link="leftforearm"/>
    <child link="lefthand" />
</joint>

<!--
-----------------------Sparky  RIGHT LEG  -----------------------------
-->

<link name="rightthigh" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-1.3 -.89 .37" rpy="-.05 .3 -1.57" />
    <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Thigh.stl" />
    </geometry>
    </visual>
</link>



<link name="rightcalf" >

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-1.6 4.7 2.05" rpy="0 -1 -1.57" />
    <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Calf.stl" />
    </geometry>
    </visual>
</link>

<link name="rightfoot">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="3.6 0 -.5" rpy="0 0 -1.57" />
    <material name="whitegray" />
    <geometry>
        <mesh filename="package://sparky_model/meshes/RightFoot.stl" />
    </geometry>
    </visual>
    
</link>

<joint name="RtFootForward" type="continuous">
    <parent link="hips"/>
    <child link="rightthigh" />
    <origin xyz="1.5 0 0" rpy="0 -.05 0"/>
    <axis xyz="1.05 0 0" /> 
</joint>

<joint name="RtFootUp" type="continuous" >
    <parent link="rightthigh" />
    <child link="rightcalf" />
    <origin xyz="0 0 -5.0" rpy="-.23 .05 0" />
    <axis xyz="1.23 -.05 0" /> 
</joint>

<joint name="RtFootjoint" type="fixed">
    <parent link="rightcalf" />
    <child link="rightfoot" />
    <origin xyz="0 .8 -4.3" rpy="-.2 0 0" />
    <axis xyz="1 0 0" /> 
</joint>

<!--
-----------------------Sparky  LEFT LEG  -----------------------------
-->

<link name="leftthigh">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-1.3 -.89 .37" rpy="-.05 .3 -1.57" />
    <material name="grey" >
       <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Thigh.stl" />
    </geometry>
    </visual>
    
</link>

<link name="leftcalf">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="-1.6 4.7 2.05" rpy="0 -1 -1.57" />
    <material name="grey" >
      <color rgba=".2 .2 .2 .2" />
  </material>
    <geometry>
        <mesh filename="package://sparky_model/meshes/Calf.stl" />
    </geometry>
    </visual>
    
</link>

<link name="leftfoot">

<inetrial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inetrial>
    <visual>
    <origin xyz="0 0 -.5" rpy="0 0 -1.57" />
    <material name="whitegray" />
    <geometry>
        <mesh filename="package://sparky_model/meshes/LeftFoot.stl" />
    </geometry>
    </visual>
    
</link>

<joint name="LtFootForward" type="continuous">
    <parent link="hips"/>
    <child link="leftthigh"/>
    <origin xyz="-1.65 0 0" rpy="0 -.05 0"/>
    <axis xyz="1.05 0 0" /> 
</joint>

<joint name="LtFootUp" type="continuous">
    <parent link="leftthigh" />
    <child link="leftcalf" />
    <origin xyz="0 0 -5" rpy="-.23 .05 0" />
    <axis xyz="1.23 -.05 0" /> 
</joint>

<joint name="LtFootjoint" type="fixed">
    <parent link="leftcalf" />
    <child link="leftfoot" />
    <origin xyz="0 .8 -4.3" rpy="-.2 0 0" />
    <axis xyz="1 0 0" /> 
</joint>



<!--
-----------------------------Sparky Upper Spine ------------------------------
-->

<link name="TS1">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
        <color rgba=".5 .5 .5 .5" />
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<link name="TS2">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS3">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS4">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS5">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>


<link name="TS6">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS7">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="TS8">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="TS9">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
        <color rgba=".5 .5 .5 .5" />
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<link name="TS10">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS11">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS12">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS13">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS14">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS15">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="TS16">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>
<link name="TS17">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
        <color rgba=".5 .5 .5 .5" />
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<link name="TS18">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS19">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS20">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS21">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>


<link name="TS22">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="TS23">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="TS24">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".104" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<joint name="TSJ1" type="fixed">
    <parent link="centerplate" />
    <child link="TS1" />
    <origin xyz="0 0 .4" rpy="0 0 0" />
    <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ2" type="continuous">
    <parent link="TS1" />
    <child link="TS2" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ3" type="continuous">
    <parent link="TS2" />
    <child link="TS3" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ4" type="continuous">
    <parent link="TS3" />
    <child link="TS4" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ5" type="continuous">
    <parent link="TS4" />
    <child link="TS5" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ6" type="continuous">
    <parent link="TS5" />
    <child link="TS6" />
    <origin xyz="0 0 .052" rpy="0 0 0" />    
    <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ7" type="continuous">
    <parent link="TS6" />
    <child link="TS7" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ8" type="continuous">
    <parent link="TS7" />
    <child link="TS8" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ9" type="continuous">
    <parent link="TS8" />
    <child link="TS9" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ10" type="continuous">
    <parent link="TS9" />
    <child link="TS10" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ11" type="continuous">
    <parent link="TS10" />
    <child link="TS11" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ12" type="continuous">
    <parent link="TS11" />
    <child link="TS12" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ13" type="continuous">
    <parent link="TS12" />
    <child link="TS13" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ14" type="continuous">
    <parent link="TS13" />
    <child link="TS14" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ15" type="continuous">
    <parent link="TS14" />
    <child link="TS15" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ16" type="continuous">
    <parent link="TS15" />
    <child link="TS16" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ17" type="continuous">
    <parent link="TS16" />
    <child link="TS17" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ18" type="continuous">
    <parent link="TS17" />
    <child link="TS18" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ19" type="continuous">
    <parent link="TS18" />
    <child link="TS19" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ20" type="continuous">
    <parent link="TS19" />
    <child link="TS20" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ21" type="continuous">
    <parent link="TS20" />
    <child link="TS21" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ22" type="continuous">
    <parent link="TS21" />
    <child link="TS22" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TorsoBend" type="continuous">
    <parent link="TS22" />
    <child link="TS23" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSJ23" type="fixed">
    <parent link="TS23" />
    <child link="TS24" />
    <origin xyz="0 0 .052" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="TSShoulderJoint" type="fixed">
    <origin xyz="0 -.85 .45" rpy="-.28 0 0"/>
    <axis xyz="1 0 0" /> 
    <parent link="TS24"/>
    <child link="shoulders"/>
</joint>

<!--
-----------------------------Sparky Lower Spine ------------------------------
-->

<link name="LS1">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
        <color rgba=".5 .5 .5 .5" />
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<link name="LS2">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS3">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS4">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS5">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>


<link name="LS6">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS7">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="LS8">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="LS9">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
        <color rgba=".5 .5 .5 .5" />
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<link name="LS10">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS11">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS12">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS13">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS14">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS15">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>

<link name="LS16">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
    
</link>
<link name="LS17">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
        <color rgba=".5 .5 .5 .5" />
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<link name="LS18">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS19">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>

<link name="LS20">
<inertial>
        <mass value="5"/>
        <inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
        <origin/>
    </inertial>
    <visual>
    <origin xyz="0 0 0" rpy="0 0 0" />
    <material name="silver" >
    </material>
    <geometry>
        <cylinder radius=".25" length=".098" />
    </geometry>
    </visual>
            <collision>
      <origin xyz="0 0 0" rpy="0 0 0 " />
      <geometry name="collision_geom">
        <box size="0.01 0.01 0.01" />
      </geometry>
    </collision>
</link>



<joint name="LSJ1" type="fixed">
    <parent link="hips" />
    <child link="LS1" />
    <origin xyz="0 0 1.3" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ2" type="continuous">
    <parent link="LS1" />
    <child link="LS2" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ3" type="continuous">
    <parent link="LS2" />
    <child link="LS3" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ4" type="continuous">
    <parent link="LS3" />
    <child link="LS4" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ5" type="continuous">
    <parent link="LS4" />
    <child link="LS5" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ6" type="continuous">
    <parent link="LS5" />
    <child link="LS6" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ7" type="continuous">
    <parent link="LS6" />
    <child link="LS7" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ8" type="continuous">
    <parent link="LS7" />
    <child link="LS8" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ9" type="continuous">
    <parent link="LS8" />
    <child link="LS9" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ10" type="continuous">
    <parent link="LS9" />
    <child link="LS10" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ11" type="continuous">
    <parent link="LS10" />
    <child link="LS11" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ12" type="continuous">
    <parent link="LS11" />
    <child link="LS12" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ13" type="continuous">
    <parent link="LS12" />
    <child link="LS13" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ14" type="continuous">
    <parent link="LS13" />
    <child link="LS14" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ15" type="continuous">
    <parent link="LS14" />
    <child link="LS15" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ16" type="continuous">
    <parent link="LS15" />
    <child link="LS16" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ17" type="continuous">
    <parent link="LS16" />
    <child link="LS17" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ18" type="continuous">
    <parent link="LS17" />
    <child link="LS18" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ19" type="continuous">
    <parent link="LS18" />
    <child link="LS19" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

<joint name="LSJ20" type="continuous">
    <parent link="LS19" />
    <child link="LS20" />
    <origin xyz="0 0 .049" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>


<joint name="LSJ21" type="fixed">
    <parent link="LS20" />
    <child link="centerplate" />
    <origin xyz="0 0 .42" rpy="0 0 0" />
        <axis xyz="1 0 0" /> 
</joint>

</robot>