<robot name="JulietteY20MP">
    <material name="LightGrey">
        <texture />
        <color rgba="0.9 0.9 0.9 1" />
    </material>
    <link name="AccelerometerBase_sensor" />
    <link name="Accelerometer_sensor" />
    <link name="Battery/FuelGauge_sensor" />
    <link name="Battery_sensor" />
    <link name="Bumper/Back_sensor" />
    <link name="Bumper/FrontLeft_sensor" />
    <link name="Bumper/FrontRight_sensor" />
    <link name="CameraBottom_sensor" />
    <link name="CameraDepth_sensor" />
    <link name="CameraTop_sensor" />
    <link name="ChestBoard/Button_sensor" />
    <link name="DeadAngle/Left_sensor" />
    <link name="DeadAngle/Right_sensor" />
    <link name="FanCenter_sensor" />
    <link name="FanLeft_sensor" />
    <link name="FanRight_sensor" />
    <link name="GyrometerBase_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="HeadFuse_sensor" />
    <link name="HeadPitchSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.11" />
            </geometry>
        </collision>
    </link>
    <link name="Head_effector" />
    <link name="HipPitchPillCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.1275" length="0.355" />
            </geometry>
        </collision>
    </link>
    <link name="HipPitchSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.095" />
            </geometry>
        </collision>
    </link>
    <link name="LArmFuse_sensor" />
    <link name="LArm_effector" />
    <link name="LElbowRollDynamicCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.035" length="0.27" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollPillCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.035" length="0.2" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollSphereACollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollSphereBCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollSphereCCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollSphereDCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="LFinger11_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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/juliette/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/juliette/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/juliette/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/juliette/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/juliette/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="LFinger31_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="LFinger32_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="LFinger33_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="LFinger41_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="LFinger42_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="LFinger43_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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_actuator_frame" />
    <link name="LThumb1_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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/juliette/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="LWristYawSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.052" />
            </geometry>
        </collision>
    </link>
    <link name="LaserSensor/Front_sensor" />
    <link name="LaserSensor/Left_sensor" />
    <link name="LaserSensor/Right_sensor" />
    <link name="LaserSensor/Shovel_sensor" />
    <link name="LaserSensor/VerticalLeft_sensor" />
    <link name="LaserSensor/VerticalRight_sensor" />
    <link name="LegFuse_sensor" />
    <link name="Leg_effector" />
    <link name="MicroFL_sensor" />
    <link name="MicroFR_sensor" />
    <link name="MicroRL_sensor" />
    <link name="MicroRR_sensor" />
    <link name="RArmFuse_sensor" />
    <link name="RArm_effector" />
    <link name="RElbowRollDynamicCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.035" length="0.27" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollPillCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.035" length="0.2" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollSphereACollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollSphereBCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollSphereCCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollSphereDCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.035" />
            </geometry>
        </collision>
    </link>
    <link name="RFinger11_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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/juliette/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/juliette/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/juliette/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/juliette/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/juliette/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="RFinger31_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="RFinger32_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="RFinger33_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="RFinger41_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="RFinger42_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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="RFinger43_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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_actuator_frame" />
    <link name="RThumb1_link">
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/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/juliette/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="RWristYawSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.052" />
            </geometry>
        </collision>
    </link>
    <link name="Sonar/Back_sensor" />
    <link name="Sonar/Front_sensor" />
    <link name="SpeakerLeft_sensor" />
    <link name="SpeakerRight_sensor" />
    <link name="Tablet_sensor" />
    <link name="TorsoBackLeftSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.08" />
            </geometry>
        </collision>
    </link>
    <link name="TorsoBackRightSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.08" />
            </geometry>
        </collision>
    </link>
    <link name="TorsoSphereBackCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.1" />
            </geometry>
        </collision>
    </link>
    <link name="TorsoSphereLeftCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.07" />
            </geometry>
        </collision>
    </link>
    <link name="TorsoSphereRightCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.07" />
            </geometry>
        </collision>
    </link>
    <link name="TorsoTabCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <box size="0.2 0.256 0.1" />
            </geometry>
        </collision>
    </link>
    <link name="Torso_link">
        <inertial>
            <mass value="3.99533" />
            <origin xyz="0.00322 0 -0.01029" rpy="0 -0 0" />
            <inertia ixx="0.0452761" ixy="0" ixz="-0.00525567" iyy="0.0432702" iyz="0.000266886" izz="0.0258881" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.27391" />
            <origin xyz="-0.00207 0 -0.02636" rpy="0 -0 0" />
            <inertia ixx="0.000343501" ixy="0" ixz="4.87482e-05" iyy="0.000493898" iyz="-2.09863e-06" izz="0.000215252" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="1.51893" />
            <origin xyz="0.00312 0 0.11152" rpy="0 -0 0" />
            <inertia ixx="0.00597209" ixy="0" ixz="0.000931862" iyy="0.0059054" iyz="-4.3428e-07" izz="0.00570374" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.3125" />
            <origin xyz="0.00018 -0.01856 0.00099" rpy="0 -0 0" />
            <inertia ixx="0.000361198" ixy="-1.0453e-07" ixz="-5.24532e-07" iyy="0.000137229" iyz="-5.79522e-06" izz="0.000399194" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.50527" />
            <origin xyz="0.08151 0.01284 -0.01017" rpy="0 -0 0" />
            <inertia ixx="0.000500872" ixy="0.00109321" ixz="-0.00092282" iyy="0.00126284" iyz="-0.000141027" izz="0.00115718" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.27495" />
            <origin xyz="-0.02297 -0.00019 0.00119" rpy="0 -0 0" />
            <inertia ixx="0.000122971" ixy="1.4139e-06" ixz="1.05526e-05" iyy="0.000331766" iyz="1.86491e-06" izz="0.000303047" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/LElbowYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="LElbowRoll_link">
        <inertial>
            <mass value="0.16579" />
            <origin xyz="0.0593 0.00271 -0.01014" rpy="0 -0 0" />
            <inertia ixx="0.00156513" ixy="3.85342e-05" ixz="-0.000138805" iyy="0.00173219" iyz="-8.93543e-06" izz="0.000273081" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.27555" />
            <origin xyz="0.03536 -0.00072 -0.00207" rpy="0 -0 0" />
            <inertia ixx="0.000151643" ixy="-2.46935e-05" ixz="-4.3233e-05" iyy="0.000431099" iyz="3.95851e-06" izz="0.000456172" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/LWristYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="HipRoll_link">
        <inertial>
            <mass value="1.02338" />
            <origin xyz="0.00032 0 -0.06039" rpy="0 -0 0" />
            <inertia ixx="0.00502422" ixy="0" ixz="-1.40621e-05" iyy="0.00640971" iyz="-0.000159449" izz="0.00441082" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/HipRoll.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="HipPitch_link">
        <inertial>
            <mass value="2.45917" />
            <origin xyz="0.00237 0 -0.09654" rpy="0 -0 0" />
            <inertia ixx="0.034351" ixy="0" ixz="-0.00134835" iyy="0.0303122" iyz="8.37542e-05" izz="0.0143771" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/HipPitch.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="KneePitch_link">
        <inertial>
            <mass value="11.6015" />
            <origin xyz="0.00220451 0 -0.185729" rpy="0 -0 0" />
            <inertia ixx="0.129229" ixy="0.000401632" ixz="-0.0168449" iyy="0.122839" iyz="-1.01666e-08" izz="0.108168" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/KneePitch.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="0.3125" />
            <origin xyz="0.00018 0.01856 0.00099" rpy="0 -0 0" />
            <inertia ixx="0.000361198" ixy="1.0453e-07" ixz="-5.24532e-07" iyy="0.000137229" iyz="5.79522e-06" izz="0.000399194" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.50527" />
            <origin xyz="0.08151 -0.01284 -0.01017" rpy="0 -0 0" />
            <inertia ixx="0.000500872" ixy="-0.00109321" ixz="-0.00092282" iyy="0.00126284" iyz="0.000141027" izz="0.00115718" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.27495" />
            <origin xyz="-0.02297 0.00019 0.00119" rpy="0 -0 0" />
            <inertia ixx="0.000122971" ixy="-1.4139e-06" ixz="1.05526e-05" iyy="0.000331766" iyz="-1.86491e-06" izz="0.000303047" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/RElbowYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="RElbowRoll_link">
        <inertial>
            <mass value="0.16579" />
            <origin xyz="0.0593 -0.00271 -0.01014" rpy="0 -0 0" />
            <inertia ixx="0.00156513" ixy="-3.85342e-05" ixz="-0.000138805" iyy="0.00173219" iyz="8.93543e-06" izz="0.000273081" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/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="0.27555" />
            <origin xyz="0.03536 0.00072 -0.00207" rpy="0 -0 0" />
            <inertia ixx="0.000151643" ixy="2.46935e-05" ixz="-4.3233e-05" iyy="0.000431099" iyz="-3.95851e-06" izz="0.000456172" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/DVT/RWristYaw.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="WheelB_link">
        <inertial>
            <mass value="1.58028" />
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <inertia ixx="0.00299756" ixy="-6.3068e-07" ixz="-5.56903e-06" iyy="0.00303229" iyz="9.0408e-07" izz="0.00296585" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/WheelB.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="WheelFL_link">
        <inertial>
            <mass value="1.58028" />
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <inertia ixx="0.00299756" ixy="-6.3068e-07" ixz="-5.56903e-06" iyy="0.00303229" iyz="9.0408e-07" izz="0.00296585" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/WheelFL.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="WheelFR_link">
        <inertial>
            <mass value="1.58028" />
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <inertia ixx="0.00299756" ixy="-6.3068e-07" ixz="-5.56903e-06" iyy="0.00303229" iyz="9.0408e-07" izz="0.00296585" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/juliette/WheelFR.mesh" scale="1 1 1" />
            </geometry>
            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
            </material>
        </visual>
    </link>
    <link name="base_link" />
    <joint name="AccelerometerBase_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 -0.3" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="AccelerometerBase_sensor" />
    </joint>
    <joint name="Accelerometer_sensor_fixedjoint" type="fixed">
        <origin xyz="0.00239 -0.03575 0.00626" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Accelerometer_sensor" />
    </joint>
    <joint name="Battery/FuelGauge_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Battery/FuelGauge_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="KneePitch_link" />
        <child link="Battery_sensor" />
    </joint>
    <joint name="Bumper/Back_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.251 0 -0.264" rpy="0 -0 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Bumper/Back_sensor" />
    </joint>
    <joint name="Bumper/FrontLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0.129 0.227 -0.264" rpy="0 -0 0.48886" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Bumper/FrontLeft_sensor" />
    </joint>
    <joint name="Bumper/FrontRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0.129 -0.227 -0.264" rpy="-0 -0 -0.48886" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Bumper/FrontRight_sensor" />
    </joint>
    <joint name="CameraBottom_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0936 0 0.0616" rpy="0 0.698132 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraBottom_sensor" />
    </joint>
    <joint name="CameraDepth_sensor_fixedjoint" type="fixed">
        <origin xyz="0.05138 0.039 0.1194" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraDepth_sensor" />
    </joint>
    <joint name="CameraTop_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0868 0 0.1631" rpy="0 -0 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="DeadAngle/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="0.04913 0.07434 -0.0664" rpy="0 -0 0.79" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="DeadAngle/Left_sensor" />
    </joint>
    <joint name="DeadAngle/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.04913 -0.07434 -0.0664" rpy="-0 -0 -0.79" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="DeadAngle/Right_sensor" />
    </joint>
    <joint name="FanCenter_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="FanCenter_sensor" />
    </joint>
    <joint name="FanLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="FanLeft_sensor" />
    </joint>
    <joint name="FanRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="FanRight_sensor" />
    </joint>
    <joint name="GyrometerBase_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 -0.3" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="GyrometerBase_sensor" />
    </joint>
    <joint name="Gyrometer_sensor_fixedjoint" type="fixed">
        <origin xyz="0.00204 -0.03491 -0.00959" 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="0.028175 0 0.21267" rpy="0 0.20944 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="0.0041 0 0.2159" rpy="0 -0.0349066 0" />
        <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="-0.03376 0 0.21052" rpy="0 -0.314159 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Rear_sensor" />
    </joint>
    <joint name="HeadFuse_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="HeadFuse_sensor" />
    </joint>
    <joint name="HeadPitchSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.004 0 0.12" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="HeadPitchSphereCollision_shape" />
    </joint>
    <joint name="HeadYaw_joint" type="revolute">
        <origin xyz="-0.038 0 0.1699" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="Torso_link" />
        <child link="HeadYaw_link" />
        <limit effort="5.428" velocity="7.33998" 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="2.666" velocity="9.22756" lower="-0.706858" upper="0.637045" />
    </joint>
    <joint name="LShoulderPitch_joint" type="revolute">
        <origin xyz="-0.057 0.14974 0.08682" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="Torso_link" />
        <child link="LShoulderPitch_link" />
        <limit effort="5.428" velocity="7.33998" 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="2.666" velocity="9.22756" lower="0.00872665" upper="1.56207" />
    </joint>
    <joint name="LElbowYaw_joint" type="revolute">
        <origin xyz="0.1812 0.015 0.00013" rpy="0 -0.157079 0" />
        <axis xyz="1 0 0" />
        <parent link="LShoulderRoll_link" />
        <child link="LElbowYaw_link" />
        <limit effort="5.428" velocity="7.33998" 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="2.666" velocity="9.22756" lower="-1.56207" upper="-0.00872665" />
    </joint>
    <joint name="LWristYaw_joint" type="revolute">
        <origin xyz="0.15 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LWristYaw_link" />
        <limit effort="0.2014" velocity="17.3835" lower="-1.82387" upper="1.82387" />
    </joint>
    <joint name="HipRoll_joint" type="revolute">
        <origin xyz="2e-05 0 -0.139" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="Torso_link" />
        <child link="HipRoll_link" />
        <limit effort="10.1884" velocity="2.27032" lower="-0.514872" upper="0.514872" />
    </joint>
    <joint name="HipPitch_joint" type="revolute">
        <origin xyz="0 0 -0.079" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="HipRoll_link" />
        <child link="HipPitch_link" />
        <limit effort="19.787" velocity="2.93276" lower="-1.03847" upper="1.03847" />
    </joint>
    <joint name="KneePitch_joint" type="revolute">
        <origin xyz="0 0 -0.268" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="HipPitch_link" />
        <child link="KneePitch_link" />
        <limit effort="27.702" velocity="2.93276" lower="-0.514872" upper="0.514872" />
    </joint>
    <joint name="RShoulderPitch_joint" type="revolute">
        <origin xyz="-0.057 -0.14974 0.08682" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="Torso_link" />
        <child link="RShoulderPitch_link" />
        <limit effort="5.428" velocity="7.33998" 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="2.666" velocity="9.22756" lower="-1.56207" upper="-0.00872665" />
    </joint>
    <joint name="RElbowYaw_joint" type="revolute">
        <origin xyz="0.1812 -0.015 0.00013" rpy="0 -0.157079 0" />
        <axis xyz="1 0 0" />
        <parent link="RShoulderRoll_link" />
        <child link="RElbowYaw_link" />
        <limit effort="5.428" velocity="7.33998" 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="2.666" velocity="9.22756" lower="0.00872665" upper="1.56207" />
    </joint>
    <joint name="RWristYaw_joint" type="revolute">
        <origin xyz="0.15 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RWristYaw_link" />
        <limit effort="0.2014" velocity="17.3835" 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="HipPitchPillCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0075 0 -0.07" rpy="-3.14159 7.88861e-31 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HipPitch_link" />
        <child link="HipPitchPillCollision_shape" />
    </joint>
    <joint name="HipPitchSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.005 0 0.05" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HipPitch_link" />
        <child link="HipPitchSphereCollision_shape" />
    </joint>
    <joint name="LArmFuse_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="LArmFuse_sensor" />
    </joint>
    <joint name="LArm_effector_fixedjoint" type="fixed">
        <origin xyz="0.0695 0 -0.0303" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LArm_effector" />
    </joint>
    <joint name="LElbowRollDynamicCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.15 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollDynamicCollision_shape" />
    </joint>
    <joint name="LElbowRollPillCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.115 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollPillCollision_shape" />
    </joint>
    <joint name="LElbowRollSphereACollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.1875 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollSphereACollision_shape" />
    </joint>
    <joint name="LElbowRollSphereBCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.125 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollSphereBCollision_shape" />
    </joint>
    <joint name="LElbowRollSphereCCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.0625 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollSphereCCollision_shape" />
    </joint>
    <joint name="LElbowRollSphereDCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollSphereDCollision_shape" />
    </joint>
    <joint name="LFinger11_joint" type="continuous">
        <origin xyz="0.0821 -0.0268 0.004" rpy="1.74402 1.04064 -0.0334335" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger11_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger12_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger11_link" />
        <child link="LFinger12_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger13_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger12_link" />
        <child link="LFinger13_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger21_joint" type="continuous">
        <origin xyz="0.0873 -0.0073 0.006" rpy="1.5708 1.0472 -0.061086" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger21_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger22_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger21_link" />
        <child link="LFinger22_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger23_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger22_link" />
        <child link="LFinger23_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger31_joint" type="continuous">
        <origin xyz="0.0833 0.0123 0.004" rpy="1.46636 1.04483 -0.029314" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger31_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger32_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger31_link" />
        <child link="LFinger32_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger33_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger32_link" />
        <child link="LFinger33_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger41_joint" type="continuous">
        <origin xyz="0.074 0.0309 0" rpy="1.39757 1.04064 0.0683394" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger41_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger42_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger41_link" />
        <child link="LFinger42_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LFinger43_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LFinger42_link" />
        <child link="LFinger43_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0523 0 0.0304" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Back_sensor" />
    </joint>
    <joint name="LHand_actuator" type="revolute">
        <origin xyz="0.025 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand_actuator_frame" />
        <limit effort="0.144" velocity="12.56" lower="0.02" upper="0.98" />
    </joint>
    <joint name="LThumb1_joint" type="continuous">
        <origin xyz="0.0482 -0.0357 -0.0199" rpy="-1.95836 0.60626 0.533978" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LThumb1_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LThumb2_joint" type="continuous">
        <origin xyz="0.022 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="LThumb1_link" />
        <child link="LThumb2_link" />
        <mimic offset="0" multiplier="0.872665" joint="LHand_actuator" />
    </joint>
    <joint name="LWristYawSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.055 -0.01 -0.015" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LWristYawSphereCollision_shape" />
    </joint>
    <joint name="LaserSensor/Front_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0562 0 -0.0692" rpy="0 0.349044 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="LaserSensor/Front_sensor" />
    </joint>
    <joint name="LaserSensor/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.018 0.0899 -0.0759" rpy="8.34035e-09 0.191982 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="LaserSensor/Left_sensor" />
    </joint>
    <joint name="LaserSensor/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.018 -0.0899 -0.0759" rpy="4.08851e-07 0.191857 -1.60746" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="LaserSensor/Right_sensor" />
    </joint>
    <joint name="LaserSensor/Shovel_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0562 0 -0.0692" rpy="0 0.349044 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="LaserSensor/Shovel_sensor" />
    </joint>
    <joint name="LaserSensor/VerticalLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0562 0 -0.0692" rpy="0 0.349044 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="LaserSensor/VerticalLeft_sensor" />
    </joint>
    <joint name="LaserSensor/VerticalRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0562 0 -0.0692" rpy="0 0.349044 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="LaserSensor/VerticalRight_sensor" />
    </joint>
    <joint name="LegFuse_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="LegFuse_sensor" />
    </joint>
    <joint name="Leg_effector_fixedjoint" type="fixed">
        <origin xyz="0.0062 0 -0.334" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Leg_effector" />
    </joint>
    <joint name="MicroFL_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0313 0.0343 0.2066" rpy="3.14159 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroFL_sensor" />
    </joint>
    <joint name="MicroFR_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0313 -0.0343 0.2066" rpy="3.14159 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroFR_sensor" />
    </joint>
    <joint name="MicroRL_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0267 0.0343 0.2066" rpy="3.14159 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroRL_sensor" />
    </joint>
    <joint name="MicroRR_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0267 -0.0343 0.2066" rpy="3.14159 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroRR_sensor" />
    </joint>
    <joint name="RArmFuse_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="RArmFuse_sensor" />
    </joint>
    <joint name="RArm_effector_fixedjoint" type="fixed">
        <origin xyz="0.0695 0 -0.0303" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RArm_effector" />
    </joint>
    <joint name="RElbowRollDynamicCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.15 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollDynamicCollision_shape" />
    </joint>
    <joint name="RElbowRollPillCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.115 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollPillCollision_shape" />
    </joint>
    <joint name="RElbowRollSphereACollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.1875 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollSphereACollision_shape" />
    </joint>
    <joint name="RElbowRollSphereBCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.125 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollSphereBCollision_shape" />
    </joint>
    <joint name="RElbowRollSphereCCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.0625 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollSphereCCollision_shape" />
    </joint>
    <joint name="RElbowRollSphereDCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollSphereDCollision_shape" />
    </joint>
    <joint name="RFinger11_joint" type="continuous">
        <origin xyz="0.0821 0.0268 0.004" rpy="1.39757 1.04064 0.0334335" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger11_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger12_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger11_link" />
        <child link="RFinger12_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger13_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger12_link" />
        <child link="RFinger13_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger21_joint" type="continuous">
        <origin xyz="0.0873 0.0073 0.006" rpy="1.5708 1.0472 0.061086" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger21_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger22_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger21_link" />
        <child link="RFinger22_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger23_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger22_link" />
        <child link="RFinger23_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger31_joint" type="continuous">
        <origin xyz="0.0833 -0.0123 0.004" rpy="1.67523 1.04483 0.029316" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger31_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger32_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger31_link" />
        <child link="RFinger32_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger33_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger32_link" />
        <child link="RFinger33_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger41_joint" type="continuous">
        <origin xyz="0.074 -0.0309 0" rpy="1.74402 1.04064 -0.0683394" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger41_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger42_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger41_link" />
        <child link="RFinger42_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RFinger43_joint" type="continuous">
        <origin xyz="0.018 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RFinger42_link" />
        <child link="RFinger43_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0523 0 0.0304" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Back_sensor" />
    </joint>
    <joint name="RHand_actuator" type="revolute">
        <origin xyz="0.025 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand_actuator_frame" />
        <limit effort="0.144" velocity="12.56" lower="0.02" upper="0.98" />
    </joint>
    <joint name="RThumb1_joint" type="continuous">
        <origin xyz="0.0482 0.0357 -0.0199" rpy="-1.18323 0.60626 -0.533978" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RThumb1_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RThumb2_joint" type="continuous">
        <origin xyz="0.022 0 0" rpy="-0 -0 -1.0472" />
        <axis xyz="0 0 1" />
        <parent link="RThumb1_link" />
        <child link="RThumb2_link" />
        <mimic offset="0" multiplier="0.872665" joint="RHand_actuator" />
    </joint>
    <joint name="RWristYawSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.055 0.01 -0.015" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RWristYawSphereCollision_shape" />
    </joint>
    <joint name="Sonar/Back_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.0718 0 -0.0534" rpy="-1.81761e-08 -0.209438 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Sonar/Back_sensor" />
    </joint>
    <joint name="Sonar/Front_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0699 0 -0.1023" rpy="0 -0.322858 0" />
        <axis xyz="0 0 0" />
        <parent link="KneePitch_link" />
        <child link="Sonar/Front_sensor" />
    </joint>
    <joint name="SpeakerLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="SpeakerLeft_sensor" />
    </joint>
    <joint name="SpeakerRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="SpeakerRight_sensor" />
    </joint>
    <joint name="Tablet_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0839249 0 0.06251" rpy="0 -0.523599 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Tablet_sensor" />
    </joint>
    <joint name="TorsoBackLeftSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.08 0.055 -0.06" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoBackLeftSphereCollision_shape" />
    </joint>
    <joint name="TorsoBackRightSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.08 -0.055 -0.06" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoBackRightSphereCollision_shape" />
    </joint>
    <joint name="TorsoSphereBackCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 0 -0.08" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoSphereBackCollision_shape" />
    </joint>
    <joint name="TorsoSphereLeftCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.08 0.05 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoSphereLeftCollision_shape" />
    </joint>
    <joint name="TorsoSphereRightCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.08 -0.05 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoSphereRightCollision_shape" />
    </joint>
    <joint name="TorsoTabCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.08 0 0.04" rpy="0 1.0472 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoTabCollision_shape" />
    </joint>
    <joint name="WheelB_joint" type="continuous">
        <origin xyz="-0.17 0 -0.264" rpy="0 -0 -3.14159" />
        <axis xyz="1 0 0" />
        <parent link="KneePitch_link" />
        <child link="WheelB_link" />
        <limit effort="3.25" velocity="6.28319" lower="0" upper="0" />
    </joint>
    <joint name="WheelFL_joint" type="continuous">
        <origin xyz="0.09 0.155 -0.264" rpy="0 -0 1.07517" />
        <axis xyz="1 0 0" />
        <parent link="KneePitch_link" />
        <child link="WheelFL_link" />
        <limit effort="3.25" velocity="6.28319" lower="0" upper="0" />
    </joint>
    <joint name="WheelFR_joint" type="continuous">
        <origin xyz="0.09 -0.155 -0.264" rpy="-0 -0 -1.07517" />
        <axis xyz="1 0 0" />
        <parent link="KneePitch_link" />
        <child link="WheelFR_link" />
        <limit effort="3.25" velocity="6.28319" lower="0" upper="0" />
    </joint>
    <joint name="base_link_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="base_link" />
        <child link="Torso_link" />
    </joint>
</robot>
