<robot name="NaoT2V32">
    <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="Head_effector" />
    <link name="InfraredL_sensor" />
    <link name="InfraredR_sensor" />
    <link name="MicroFront_sensor" />
    <link name="MicroLeft_sensor" />
    <link name="MicroRear_sensor" />
    <link name="MicroRight_sensor" />
    <link name="Sonar/Left_sensor" />
    <link name="Sonar/Right_sensor" />
    <link name="SpeakerLeft_sensor" />
    <link name="SpeakerRight_sensor" />
    <link name="Torso_link">
        <inertial>
            <mass value="1.03983" />
            <origin xyz="-0.00538 0 -0.01026" rpy="0 -0 0" />
            <inertia ixx="0.00425049" ixy="8.2162e-07" ixz="-3.14329e-05" iyy="0.0037889" iyz="-1.05487e-05" izz="0.00209012" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32T2/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="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="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="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="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="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="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>
