<robot name="NaoT14V32">
    <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="0.034" length="0.1643" />
            </geometry>
        </collision>
    </link>
    <link name="LElbowRollSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.038" />
            </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_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="0.034" length="0.1643" />
            </geometry>
        </collision>
    </link>
    <link name="RElbowRollSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.038" />
            </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_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/V32T14/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="0.05959" />
            <origin xyz="-3e-05 0 -0.02573" rpy="0 -0 0" />
            <inertia ixx="2.27831e-05" ixy="-4.2e-10" ixz="-2.84825e-08" iyy="2.37937e-05" iyz="-1.0416e-07" izz="5.49457e-06" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.47672" />
            <origin xyz="0.00383 0 0.05156" rpy="0 -0 0" />
            <inertia ixx="0.0036122" ixy="1.42859e-05" ixz="0.000289597" iyy="0.00342929" iyz="-2.22459e-05" izz="0.00156014" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.06984" />
            <origin xyz="-0.00178 -0.02507 0.00019" rpy="0 -0 0" />
            <inertia ixx="2.71212e-05" ixy="1.092e-06" ixz="-6.48989e-09" iyy="1.38254e-05" iyz="-3.76769e-07" izz="2.90286e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.12166" />
            <origin xyz="0.02067 0.00388 0.00362" rpy="0 -0 0" />
            <inertia ixx="5.58921e-05" ixy="7.81779e-06" ixz="7.53876e-06" iyy="0.000148637" iyz="-1.97852e-06" izz="0.000130405" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.05959" />
            <origin xyz="-0.02573 -1e-05 -0.0002" rpy="0 -0 0" />
            <inertia ixx="5.49223e-06" ixy="-7.08749e-09" ixz="3.7436e-07" iyy="2.2795e-05" iyz="5.70918e-09" izz="2.37796e-05" />
        </inertial>
    </link>
    <link name="LElbowRoll_link">
        <inertial>
            <mass value="0.0377" />
            <origin xyz="0.0194 0.00304 0.0025" rpy="0 -0 0" />
            <inertia ixx="1.2127e-05" ixy="9.08795e-07" ixz="3.9219e-07" iyy="1.61446e-05" iyz="7.966e-08" izz="1.52257e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.14314" />
            <origin xyz="0.03241 0.00268 -0.00272" rpy="0 -0 0" />
            <inertia ixx="5.48391e-05" ixy="4.21084e-06" ixz="-1.25566e-06" iyy="0.000120895" iyz="7.74367e-07" izz="0.00011473" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.06984" />
            <origin xyz="-0.00178 0.02507 0.00019" rpy="0 -0 0" />
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        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.12166" />
            <origin xyz="0.02067 -0.00388 0.00362" rpy="0 -0 0" />
            <inertia ixx="5.58921e-05" ixy="-7.81779e-06" ixz="-6.54177e-06" iyy="0.000148637" iyz="1.97852e-06" izz="0.000130405" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.05959" />
            <origin xyz="-0.02573 1e-05 -0.0002" rpy="0 -0 0" />
            <inertia ixx="5.49223e-06" ixy="7.08749e-09" ixz="3.7436e-07" iyy="2.2795e-05" iyz="-5.70918e-09" izz="2.37796e-05" />
        </inertial>
    </link>
    <link name="RElbowRoll_link">
        <inertial>
            <mass value="0.0377" />
            <origin xyz="0.0194 -0.00304 0.0025" rpy="0 -0 0" />
            <inertia ixx="1.2127e-05" ixy="-9.08795e-07" ixz="3.9219e-07" iyy="1.61446e-05" iyz="-7.966e-08" izz="1.52257e-05" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.14314" />
            <origin xyz="0.03241 -0.00268 -0.00272" rpy="0 -0 0" />
            <inertia ixx="5.48391e-05" ixy="-4.21084e-06" ixz="-1.25566e-06" iyy="0.000120895" iyz="-7.74367e-07" izz="0.00011473" />
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        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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="0.0488 0 0.02381" rpy="0 0.6981 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraBottom_sensor" />
    </joint>
    <joint name="CameraTop_sensor_fixedjoint" type="fixed">
        <origin xyz="0.0539 0 0.0679" 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="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="0.00872665" upper="1.64934" />
    </joint>
    <joint name="LElbowYaw_joint" type="revolute">
        <origin xyz="0.09 0 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="-1.56207" upper="-0.00872665" />
    </joint>
    <joint name="LWristYaw_joint" type="revolute">
        <origin xyz="0.05055 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LWristYaw_link" />
        <limit effort="0.3891" velocity="5.03144" 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="-1.64934" upper="-0.00872665" />
    </joint>
    <joint name="RElbowYaw_joint" type="revolute">
        <origin xyz="0.09 0 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="0.00872665" upper="1.56207" />
    </joint>
    <joint name="RWristYaw_joint" type="revolute">
        <origin xyz="0.05055 0 0" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RWristYaw_link" />
        <limit effort="0.3891" velocity="5.03144" 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="0.058 0 -0.0159" 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="0.06185 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="0.11 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_actuator" type="revolute">
        <origin xyz="0.058 0 -0.0159" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand_actuator_frame" />
        <limit effort="0.292" velocity="3.71" 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="0.058 0 -0.0159" 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="0.06185 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="0.11 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_actuator" type="revolute">
        <origin xyz="0.058 0 -0.0159" rpy="0 -0 0" />
        <axis xyz="1 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand_actuator_frame" />
        <limit effort="0.292" velocity="3.71" 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>
