<robot name="NaoT14V40">
    <material name="LightGrey">
        <texture />
        <color rgba="0.9 0.9 0.9 1" />
    </material>
    <link name="Accelerometer_sensor" />
    <link name="Battery_sensor" />
    <link name="CameraBottom_sensor" />
    <link name="CameraTop_sensor" />
    <link name="ChestBoard/Button_sensor" />
    <link name="Gyrometer_sensor" />
    <link name="Head/Touch/Front_sensor" />
    <link name="Head/Touch/Middle_sensor" />
    <link name="Head/Touch/Rear_sensor" />
    <link name="HeadPitchBothCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.053" length="0.141" />
            </geometry>
        </collision>
    </link>
    <link name="Head_effector" />
    <link name="InfraredL_sensor" />
    <link name="InfraredR_sensor" />
    <link name="LArm_effector" />
    <link name="LElbowRollBothCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.036" length="0.1743" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.04" />
            </geometry>
        </collision>
    </link>
    <link name="LFinger11_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LFinger12_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LFinger13_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LFinger21_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LFinger22_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LFinger23_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LHand/Touch/Back_sensor" />
    <link name="LHand/Touch/Left_sensor" />
    <link name="LHand/Touch/Right_sensor" />
    <link name="LHand_actuator_frame" />
    <link name="LThumb1_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LThumb2_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="MicroFront_sensor" />
    <link name="MicroLeft_sensor" />
    <link name="MicroRear_sensor" />
    <link name="MicroRight_sensor" />
    <link name="RArm_effector" />
    <link name="RElbowRollBothCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.036" length="0.1743" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.04" />
            </geometry>
        </collision>
    </link>
    <link name="RFinger11_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RFinger12_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RFinger13_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RFinger21_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RFinger22_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RFinger23_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RHand/Touch/Back_sensor" />
    <link name="RHand/Touch/Left_sensor" />
    <link name="RHand/Touch/Right_sensor" />
    <link name="RHand_actuator_frame" />
    <link name="RThumb1_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RThumb2_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="Sonar/Left_sensor" />
    <link name="Sonar/Right_sensor" />
    <link name="SpeakerLeft_sensor" />
    <link name="SpeakerRight_sensor" />
    <link name="TorsoBothCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.0642" length="0.244407" />
            </geometry>
        </collision>
    </link>
    <link name="TorsoGroundCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="2" />
            </geometry>
        </collision>
    </link>
    <link name="Torso_link">
        <inertial>
            <mass value="1.05767" />
            <origin xyz="-0.00544 0 -0.01049" rpy="0 -0 0" />
            <inertia ixx="0.0039616" ixy="1.90504e-05" ixz="-3.66376e-05" iyy="0.00368898" iyz="-7.2952e-06" izz="0.00188216" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40T14/Torso.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="HeadYaw_link">
        <inertial>
            <mass value="0.06442" />
            <origin xyz="-1e-05 0 -0.02742" rpy="0 -0 0" />
            <inertia ixx="2.65584e-05" ixy="1.57e-09" ixz="-6.76037e-10" iyy="2.75654e-05" iyz="-5.295e-08" izz="5.53372e-06" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/HeadYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="HeadPitch_link">
        <inertial>
            <mass value="0.60533" />
            <origin xyz="-0.00112 0 0.05258" rpy="0 -0 0" />
            <inertia ixx="0.000957766" ixy="8.78814e-06" ixz="5.33702e-06" iyy="0.000816836" iyz="-2.99579e-05" izz="0.000984976" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/HeadPitch.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LShoulderPitch_link">
        <inertial>
            <mass value="0.07504" />
            <origin xyz="-0.00165 -0.02663 0.00014" rpy="0 -0 0" />
            <inertia ixx="3.10677e-05" ixy="1.2692e-06" ixz="6.04576e-09" iyy="1.39498e-05" iyz="-2.99484e-07" izz="3.30001e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/LShoulderPitch.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LShoulderRoll_link">
        <inertial>
            <mass value="0.15777" />
            <origin xyz="0.02455 0.00563 0.0033" rpy="0 -0 0" />
            <inertia ixx="8.7181e-05" ixy="-2.53381e-05" ixz="-1.4213e-05" iyy="0.000274712" iyz="4.71439e-07" izz="0.000241812" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/LShoulderRoll.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LElbowYaw_link">
        <inertial>
            <mass value="0.06483" />
            <origin xyz="-0.02744 0 -0.00014" rpy="0 -0 0" />
            <inertia ixx="5.59588e-06" ixy="4.21e-09" ixz="2.92241e-07" iyy="2.66179e-05" iyz="-1.84e-09" izz="2.76294e-05" />
        </inertial>
    </link>
    <link name="LElbowRoll_link">
        <inertial>
            <mass value="0.07761" />
            <origin xyz="0.02556 0.00281 0.00076" rpy="0 -0 0" />
            <inertia ixx="2.46746e-05" ixy="3.23152e-06" ixz="1.58221e-06" iyy="3.83837e-05" iyz="1.39194e-07" izz="3.59708e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/LElbowRoll.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LWristYaw_link">
        <inertial>
            <mass value="0.18533" />
            <origin xyz="0.03434 -0.00088 0.00308" rpy="0 -0 0" />
            <inertia ixx="6.86477e-05" ixy="1.15465e-07" ixz="-2.87254e-06" iyy="0.000135756" iyz="2.67539e-06" izz="0.000133228" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/WristYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RShoulderPitch_link">
        <inertial>
            <mass value="0.07504" />
            <origin xyz="-0.00165 0.02663 0.00014" rpy="0 -0 0" />
            <inertia ixx="3.10677e-05" ixy="-1.2692e-06" ixz="6.04576e-09" iyy="1.39498e-05" iyz="2.99484e-07" izz="3.30001e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/RShoulderPitch.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RShoulderRoll_link">
        <inertial>
            <mass value="0.15777" />
            <origin xyz="0.02455 -0.00563 0.0033" rpy="0 -0 0" />
            <inertia ixx="0.000103401" ixy="5.48849e-05" ixz="-1.32643e-05" iyy="0.00027077" iyz="9.16707e-06" izz="0.000254529" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/RShoulderRoll.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RElbowYaw_link">
        <inertial>
            <mass value="0.06483" />
            <origin xyz="-0.02744 0 -0.00014" rpy="0 -0 0" />
            <inertia ixx="5.59588e-06" ixy="4.21e-09" ixz="2.92241e-07" iyy="2.66179e-05" iyz="-1.84e-09" izz="2.76294e-05" />
        </inertial>
    </link>
    <link name="RElbowRoll_link">
        <inertial>
            <mass value="0.07761" />
            <origin xyz="0.02556 -0.00281 0.00076" rpy="0 -0 0" />
            <inertia ixx="2.47331e-05" ixy="-3.2418e-06" ixz="9.06451e-07" iyy="3.84719e-05" iyz="-1.38804e-07" izz="3.59319e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/RElbowRoll.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RWristYaw_link">
        <inertial>
            <mass value="0.18533" />
            <origin xyz="0.03434 0.00088 0.00308" rpy="0 -0 0" />
            <inertia ixx="6.86477e-05" ixy="1.13165e-05" ixz="-2.87254e-06" iyy="0.000135756" iyz="3.68003e-06" izz="0.000133228" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/WristYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="USSensor1_sensor" />
    <link name="USSensor2_sensor" />
    <link name="USSensor3_sensor" />
    <link name="USSensor4_sensor" />
    <link name="base_link" />
    <joint name="Accelerometer_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.008 0.00606 0.027" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Accelerometer_sensor" />
    </joint>
    <joint name="Battery_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Battery_sensor" />
    </joint>
    <joint name="CameraBottom_sensor_fixedjoint" type="fixed">
        <origin xyz="0.05071 0 0.01774" rpy="0 0.692896 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraBottom_sensor" />
    </joint>
    <joint name="CameraTop_sensor_fixedjoint" type="fixed">
        <origin xyz="0.05871 0 0.06364" rpy="0 0.0209435 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraTop_sensor" />
    </joint>
    <joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed">
        <origin xyz="0.049871 0.001588 0.055163" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="ChestBoard/Button_sensor" />
    </joint>
    <joint name="Gyrometer_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.008 0.006 0.029" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Gyrometer_sensor" />
    </joint>
    <joint name="Head/Touch/Front_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0312 0 0.1014" rpy="0 -1.1861 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Front_sensor" />
    </joint>
    <joint name="Head/Touch/Middle_sensor_fixedjoint" type="fixed">
        <origin xyz="0.001 0 0.1099" rpy="3.14159 -1.57079 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Middle_sensor" />
    </joint>
    <joint name="Head/Touch/Rear_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0257 0 0.1045" rpy="3.14159 -1.33319 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Rear_sensor" />
    </joint>
    <joint name="HeadPitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 0 0.053" rpy="-1.5708 1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="HeadPitchBothCollision_shape" />
    </joint>
    <joint name="HeadYaw_joint" type="revolute">
        <origin xyz="0 0 0.1265" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="Torso_link" />
        <child link="HeadYaw_link" />
        <limit effort="1.547" velocity="8.26797" lower="-2.08567" upper="2.08567" />
    </joint>
    <joint name="HeadPitch_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="HeadYaw_link" />
        <child link="HeadPitch_link" />
        <limit effort="1.532" velocity="7.19407" lower="-0.671952" upper="0.514872" />
    </joint>
    <joint name="LShoulderPitch_joint" type="revolute">
        <origin xyz="0 0.098 0.1" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="Torso_link" />
        <child link="LShoulderPitch_link" />
        <limit effort="1.329" velocity="8.26797" lower="-2.08567" upper="2.08567" />
    </joint>
    <joint name="LShoulderRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="LShoulderPitch_link" />
        <child link="LShoulderRoll_link" />
        <limit effort="1.7835" velocity="7.19407" lower="-0.314159" upper="1.32645" />
    </joint>
    <joint name="LElbowYaw_joint" type="revolute">
        <origin xyz="0.105 0.015 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LShoulderRoll_link" />
        <child link="LElbowYaw_link" />
        <limit effort="1.547" velocity="8.26797" lower="-2.08567" upper="2.08567" />
    </joint>
    <joint name="LElbowRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="LElbowYaw_link" />
        <child link="LElbowRoll_link" />
        <limit effort="1.532" velocity="7.19407" lower="-1.54462" upper="-0.0349066" />
    </joint>
    <joint name="LWristYaw_joint" type="revolute">
        <origin xyz="0.05595 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LWristYaw_link" />
        <limit effort="0.4075" velocity="24.6229" lower="-1.82387" upper="1.82387" />
    </joint>
    <joint name="RShoulderPitch_joint" type="revolute">
        <origin xyz="0 -0.098 0.1" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="Torso_link" />
        <child link="RShoulderPitch_link" />
        <limit effort="1.329" velocity="8.26797" lower="-2.08567" upper="2.08567" />
    </joint>
    <joint name="RShoulderRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="RShoulderPitch_link" />
        <child link="RShoulderRoll_link" />
        <limit effort="1.783" velocity="7.19407" lower="-1.32645" upper="0.314159" />
    </joint>
    <joint name="RElbowYaw_joint" type="revolute">
        <origin xyz="0.105 -0.015 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RShoulderRoll_link" />
        <child link="RElbowYaw_link" />
        <limit effort="1.547" velocity="8.26797" lower="-2.08567" upper="2.08567" />
    </joint>
    <joint name="RElbowRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="RElbowYaw_link" />
        <child link="RElbowRoll_link" />
        <limit effort="1.532" velocity="7.19407" lower="0.0349066" upper="1.54462" />
    </joint>
    <joint name="RWristYaw_joint" type="revolute">
        <origin xyz="0.05595 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RWristYaw_link" />
        <limit effort="0.4075" velocity="24.6229" lower="-1.82387" upper="1.82387" />
    </joint>
    <joint name="Head_effector_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head_effector" />
    </joint>
    <joint name="InfraredL_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0441 0.0257 0.0466" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="InfraredL_sensor" />
    </joint>
    <joint name="InfraredR_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0441 -0.0257 0.0466" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="InfraredR_sensor" />
    </joint>
    <joint name="LArm_effector_fixedjoint" type="fixed">
        <origin xyz="0.05775 0 -0.01231" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LArm_effector" />
    </joint>
    <joint name="LElbowRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.06485 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollBothCollision_shape" />
    </joint>
    <joint name="LElbowRollSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.116 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollSphereCollision_shape" />
    </joint>
    <joint name="LFinger11_joint" type="continuous">
        <origin xyz="0.06907 0.01157 -0.00304" rpy="1.8862 0.976662 0.264067" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger11_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger12_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="LFinger11_link" />
        <child link="LFinger12_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger13_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="LFinger12_link" />
        <child link="LFinger13_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger21_joint" type="continuous">
        <origin xyz="0.06907 -0.01157 -0.00304" rpy="1.25539 0.976662 -0.264067" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger21_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger22_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="LFinger21_link" />
        <child link="LFinger22_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger23_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="LFinger22_link" />
        <child link="LFinger23_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
        <origin xyz="0.038 0 0.025" rpy="3.14159 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Back_sensor" />
    </joint>
    <joint name="LHand/Touch/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="0.032 0.025 0.003" rpy="0 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Left_sensor" />
    </joint>
    <joint name="LHand/Touch/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.035 -0.025 0.0035" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Right_sensor" />
    </joint>
    <joint name="LHand_actuator" type="revolute">
        <origin xyz="0.05775 0 -0.01231" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand_actuator_frame" />
        <limit effort="0.292" velocity="8.33" lower="0" upper="1" />
    </joint>
    <joint name="LThumb1_joint" type="continuous">
        <origin xyz="0.04895 0 -0.02638" rpy="-1.5708 0.0472984 -3.26826e-08" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LThumb1_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="LThumb2_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="LThumb1_link" />
        <child link="LThumb2_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand_actuator" />
    </joint>
    <joint name="MicroFront_sensor_fixedjoint" type="fixed">
        <origin xyz="0.041 0 0.091" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroFront_sensor" />
    </joint>
    <joint name="MicroLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0195 0.0606 0.0331" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroLeft_sensor" />
    </joint>
    <joint name="MicroRear_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0577 0 0.0693" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroRear_sensor" />
    </joint>
    <joint name="MicroRight_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0195 -0.0606 0.0331" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroRight_sensor" />
    </joint>
    <joint name="RArm_effector_fixedjoint" type="fixed">
        <origin xyz="0.05775 0 -0.01231" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RArm_effector" />
    </joint>
    <joint name="RElbowRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.06485 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollBothCollision_shape" />
    </joint>
    <joint name="RElbowRollSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.116 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollSphereCollision_shape" />
    </joint>
    <joint name="RFinger11_joint" type="continuous">
        <origin xyz="0.06907 0.01157 -0.00304" rpy="1.8862 0.976662 0.264067" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger11_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger12_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="RFinger11_link" />
        <child link="RFinger12_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger13_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="RFinger12_link" />
        <child link="RFinger13_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger21_joint" type="continuous">
        <origin xyz="0.06907 -0.01157 -0.00304" rpy="1.25539 0.976662 -0.264067" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger21_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger22_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="RFinger21_link" />
        <child link="RFinger22_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger23_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="RFinger22_link" />
        <child link="RFinger23_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
        <origin xyz="0.038 0 0.025" rpy="3.14159 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Back_sensor" />
    </joint>
    <joint name="RHand/Touch/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="0.032 0.025 0.003" rpy="0 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Left_sensor" />
    </joint>
    <joint name="RHand/Touch/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.035 -0.025 0.0035" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Right_sensor" />
    </joint>
    <joint name="RHand_actuator" type="revolute">
        <origin xyz="0.05775 0 -0.01213" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand_actuator_frame" />
        <limit effort="0.292" velocity="8.33" lower="0" upper="1" />
    </joint>
    <joint name="RThumb1_joint" type="continuous">
        <origin xyz="0.04895 0 -0.02638" rpy="-1.5708 0.0472984 -3.26826e-08" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RThumb1_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="RThumb2_joint" type="continuous">
        <origin xyz="0.01436 0 0" rpy="-0 -0 -0.999899" />
        <axis xyz="0 0 1" />
        <parent link="RThumb1_link" />
        <child link="RThumb2_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand_actuator" />
    </joint>
    <joint name="Sonar/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="0.00558253 0.0192068 0.0623853" rpy="-0.00478508 0.0436497 0.392441" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Sonar/Left_sensor" />
    </joint>
    <joint name="Sonar/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.00558253 -0.0192068 0.0623853" rpy="0.00478508 0.0436497 -0.392441" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Sonar/Right_sensor" />
    </joint>
    <joint name="SpeakerLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0038 0.0453 0.0526" rpy="0 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="SpeakerLeft_sensor" />
    </joint>
    <joint name="SpeakerRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0038 -0.0453 0.0526" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="SpeakerRight_sensor" />
    </joint>
    <joint name="TorsoBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.00125 0 -0.002" rpy="3.13039 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoBothCollision_shape" />
    </joint>
    <joint name="TorsoGroundCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 0 -2.04" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoGroundCollision_shape" />
    </joint>
    <joint name="USSensor1_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0537 -0.0341 0.0698" rpy="1.8999e-07 -0.1745 -0.349" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="USSensor1_sensor" />
    </joint>
    <joint name="USSensor2_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0477 -0.0416 0.0509" rpy="-5.21541e-07 0.2618 -0.436301" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="USSensor2_sensor" />
    </joint>
    <joint name="USSensor3_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0537 0.0341 0.0698" rpy="-1.8999e-07 -0.1745 0.349" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="USSensor3_sensor" />
    </joint>
    <joint name="USSensor4_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0477 0.0416 0.0509" rpy="5.21541e-07 0.2618 0.436301" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="USSensor4_sensor" />
    </joint>
    <joint name="base_link_fixedjoint" type="fixed">
        <origin xyz="0 0 0.0526" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="base_link" />
        <child link="Torso_link" />
    </joint>
</robot>
