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            <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="0.18405" />
            <origin xyz="0.0653 -0.00114 0.00051" rpy="0 -0 0" />
            <inertia ixx="7.78172e-05" ixy="-2.60349e-05" ixz="1.35711e-05" iyy="0.00033599" iyz="-6.52517e-07" izz="0.000337098" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/RElbowRollComplete.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="LHipYawPitch_joint" type="revolute">
        <origin xyz="0 0.05 -0.085" rpy="0 -0 0" />
        <axis xyz="0 0.707106 -0.707106" />
        <parent link="Torso_link" />
        <child link="LHipYawPitch_link" />
        <limit effort="3.348" velocity="4.16174" lower="-1.14529" upper="0.740718" />
    </joint>
    <joint name="LHipRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LHipYawPitch_link" />
        <child link="LHipRoll_link" />
        <limit effort="3.348" velocity="4.16174" lower="-0.379435" upper="0.79046" />
    </joint>
    <joint name="LHipPitch_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="LHipRoll_link" />
        <child link="LHipPitch_link" />
        <limit effort="3.023" velocity="6.40239" lower="-1.53589" upper="0.48398" />
    </joint>
    <joint name="LKneePitch_joint" type="revolute">
        <origin xyz="0 0 -0.1" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="LHipPitch_link" />
        <child link="LKneePitch_link" />
        <limit effort="3.023" velocity="6.40239" lower="-0.0923279" upper="2.11255" />
    </joint>
    <joint name="LAnklePitch_joint" type="revolute">
        <origin xyz="0 0 -0.1029" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="LKneePitch_link" />
        <child link="LAnklePitch_link" />
        <limit effort="3.023" velocity="6.40239" lower="-1.18944" upper="0.922581" />
    </joint>
    <joint name="LAnkleRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LAnklePitch_link" />
        <child link="LAnkleRoll_link" />
        <limit effort="3.348" velocity="4.16174" lower="-0.397761" upper="0.768992" />
    </joint>
    <joint name="RHipYawPitch_joint" type="revolute">
        <origin xyz="0 -0.05 -0.085" rpy="0 -0 0" />
        <axis xyz="0 0.707106 0.707106" />
        <parent link="Torso_link" />
        <child link="RHipYawPitch_link" />
        <limit effort="3.348" velocity="4.16174" lower="-1.14529" upper="0.740718" />
        <mimic offset="0" multiplier="1" joint="LHipYawPitch_joint" />
    </joint>
    <joint name="RHipRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RHipYawPitch_link" />
        <child link="RHipRoll_link" />
        <limit effort="3.348" velocity="4.16174" lower="-0.79046" upper="0.379435" />
    </joint>
    <joint name="RHipPitch_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="RHipRoll_link" />
        <child link="RHipPitch_link" />
        <limit effort="3.0226" velocity="6.40239" lower="-1.53589" upper="0.48398" />
    </joint>
    <joint name="RKneePitch_joint" type="revolute">
        <origin xyz="0 0 -0.1" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="RHipPitch_link" />
        <child link="RKneePitch_link" />
        <limit effort="3.0226" velocity="6.40239" lower="-0.0923279" upper="2.11255" />
    </joint>
    <joint name="RAnklePitch_joint" type="revolute">
        <origin xyz="0 0 -0.1029" rpy="0 -0 0" />
        <axis xyz="0 1 0" />
        <parent link="RKneePitch_link" />
        <child link="RAnklePitch_link" />
        <limit effort="3.0226" velocity="6.40239" lower="-1.1863" upper="0.932006" />
    </joint>
    <joint name="RAnkleRoll_joint" type="revolute">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RAnklePitch_link" />
        <child link="RAnkleRoll_link" />
        <limit effort="3.348" velocity="4.16174" lower="-0.768992" upper="0.397761" />
    </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="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="LAnklePitchSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.01 -0.005 0.01" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnklePitch_link" />
        <child link="LAnklePitchSphereCollision_shape" />
    </joint>
    <joint name="LAnkleRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.0825 0.0025 -0.03" rpy="-1.5708 1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LAnkleRollBothCollision_shape" />
    </joint>
    <joint name="LArm_effector_fixedjoint" type="fixed">
        <origin xyz="0.1137 0 -0.01231" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_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="LFoot/Bumper/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0876 0.019 -0.0353" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/Bumper/Left_sensor" />
    </joint>
    <joint name="LFoot/Bumper/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0876 -0.014 -0.0353" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/Bumper/Right_sensor" />
    </joint>
    <joint name="LFoot/FSR/FrontLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0.07025 0.0299 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/FrontLeft_sensor" />
    </joint>
    <joint name="LFoot/FSR/FrontRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0.07025 -0.0231 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/FrontRight_sensor" />
    </joint>
    <joint name="LFoot/FSR/RearLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.03025 0.0299 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/RearLeft_sensor" />
    </joint>
    <joint name="LFoot/FSR/RearRight_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.02965 -0.0191 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/RearRight_sensor" />
    </joint>
    <joint name="LHipPitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.002225 0.002 -0.04" rpy="2.78297 -0 1.30074" />
        <axis xyz="0 0 0" />
        <parent link="LHipPitch_link" />
        <child link="LHipPitchBothCollision_shape" />
    </joint>
    <joint name="LHipPitchMidCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 0.006 -0.0435" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LHipPitch_link" />
        <child link="LHipPitchMidCollision_shape" />
    </joint>
    <joint name="LHipYawPitchCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0225 -0.0025 0.008" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LHipYawPitch_link" />
        <child link="LHipYawPitchCollision_shape" />
    </joint>
    <joint name="LKneePitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.004 0.004 -0.0575" rpy="2.89528 -0 -2.35619" />
        <axis xyz="0 0 0" />
        <parent link="LKneePitch_link" />
        <child link="LKneePitchBothCollision_shape" />
    </joint>
    <joint name="LLeg_effector_fixedjoint" type="fixed">
        <origin xyz="0 0 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LLeg_effector" />
    </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="RAnklePitchSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.01 0.005 0.01" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnklePitch_link" />
        <child link="RAnklePitchSphereCollision_shape" />
    </joint>
    <joint name="RAnkleRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.0825 -0.0025 -0.03" rpy="-1.5708 1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RAnkleRollBothCollision_shape" />
    </joint>
    <joint name="RArm_effector_fixedjoint" type="fixed">
        <origin xyz="0.1137 0 -0.01231" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_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="RFoot/Bumper/Left_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0876 0.014 -0.0353" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/Bumper/Left_sensor" />
    </joint>
    <joint name="RFoot/Bumper/Right_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0876 -0.019 -0.0353" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/Bumper/Right_sensor" />
    </joint>
    <joint name="RFoot/FSR/FrontLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="0.07025 0.0231 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/FrontLeft_sensor" />
    </joint>
    <joint name="RFoot/FSR/FrontRight_sensor_fixedjoint" type="fixed">
        <origin xyz="0.07025 -0.0299 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/FrontRight_sensor" />
    </joint>
    <joint name="RFoot/FSR/RearLeft_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.03025 0.0191 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/RearLeft_sensor" />
    </joint>
    <joint name="RFoot/FSR/RearRight_sensor_fixedjoint" type="fixed">
        <origin xyz="-0.02965 -0.0299 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/RearRight_sensor" />
    </joint>
    <joint name="RHipPitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.002225 -0.002 -0.04" rpy="2.78297 5.55112e-17 1.84085" />
        <axis xyz="0 0 0" />
        <parent link="RHipPitch_link" />
        <child link="RHipPitchBothCollision_shape" />
    </joint>
    <joint name="RHipPitchMidCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.006 -0.0435" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RHipPitch_link" />
        <child link="RHipPitchMidCollision_shape" />
    </joint>
    <joint name="RHipYawPitchCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0225 0.0025 0.008" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RHipYawPitch_link" />
        <child link="RHipYawPitchCollision_shape" />
    </joint>
    <joint name="RKneePitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.004 -0.004 -0.0575" rpy="2.89528 -1.38778e-17 -0.785398" />
        <axis xyz="0 0 0" />
        <parent link="RKneePitch_link" />
        <child link="RKneePitchBothCollision_shape" />
    </joint>
    <joint name="RLeg_effector_fixedjoint" type="fixed">
        <origin xyz="0 0 -0.04511" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RLeg_effector" />
    </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="TorsoDownBackCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.03 0 -0.06" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoDownBackCollision_shape" />
    </joint>
    <joint name="TorsoDownCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.0006 0 -0.015" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoDownCollision_shape" />
    </joint>
    <joint name="TorsoUpBackCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.01 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoUpBackCollision_shape" />
    </joint>
    <joint name="TorsoUpCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.0019 0 0.056" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="TorsoUpCollision_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" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="base_link" />
        <child link="Torso_link" />
    </joint>
</robot>
