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            <origin xyz="-0.00178 -0.000190001 0.02507" rpy="1.5708 -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="1.5708 -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="-0.00388 -0.02067 0.00362" rpy="0 -0 -1.5708" />
            <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 -1.5708" />
            <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="1.00011e-05 -0.0002 -0.02573" rpy="1.5708 -1.5708 -3.14159" />
            <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="0.11282" />
            <origin xyz="-0.000960003 -0.06992 -0.00114" rpy="0 -0 -1.5708" />
            <inertia ixx="1.24604e-05" ixy="-6.25824e-06" ixz="-1.0429e-05" iyy="-0.000521133" iyz="3.3033e-07" izz="-0.000521896" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 -1.5708" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V32/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" />
    <link name="USSensor2" />
    <link name="USSensor3" />
    <link name="USSensor4" />
    <link name="base_link" />
    <joint name="Accelerometer_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" />
    </joint>
    <joint name="Battery_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="Torso_link" />
        <child link="Battery" />
    </joint>
    <joint name="CameraBottom_fixedjoint" type="fixed">
        <origin xyz="0.02381 0.0488 0" rpy="1.5708 -0 2.2689" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraBottom" />
    </joint>
    <joint name="CameraTop_fixedjoint" type="fixed">
        <origin xyz="0.0679 0.0539 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraTop" />
    </joint>
    <joint name="ChestBoard/Button_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" />
    </joint>
    <joint name="Gyrometer_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" />
    </joint>
    <joint name="Head/Touch/Front_fixedjoint" type="fixed">
        <origin xyz="0.1014 0.0312 0" rpy="1.5708 -0 0.384697" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Front" />
    </joint>
    <joint name="Head/Touch/Middle_fixedjoint" type="fixed">
        <origin xyz="0.1099 0.001 0" rpy="1.5708 4.23516e-22 -4e-06" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Middle" />
    </joint>
    <joint name="Head/Touch/Rear_fixedjoint" type="fixed">
        <origin xyz="0.1045 -0.0257 0" rpy="1.5708 -0 -0.237603" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head/Touch/Rear" />
    </joint>
    <joint name="HeadPitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.053 0 0" rpy="-3.14159 7.88861e-31 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="HeadPitchBothCollision_shape" />
    </joint>
    <joint name="HeadPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="HeadPitch" />
    </joint>
    <joint name="HeadYaw" 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" type="revolute">
        <origin xyz="0 0 0" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0.098 0.1" rpy="-1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -1.5708 3.14159" />
        <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" type="revolute">
        <origin xyz="0 -0.09 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -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="LHipYawPitch" type="revolute">
        <origin xyz="0 0.05 -0.085" rpy="-3.14159 -0.785398 1.5708" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 0.785398 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="-0.1 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="-0.1029 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 -0.05 -0.085" rpy="3.09086e-08 -0.785398 -1.5708" />
        <axis xyz="0 0 1" />
        <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 name="RHipRoll" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -0.785398 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="-0.1 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="-0.1029 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 -0.098 0.1" rpy="-1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -1.5708 3.14159" />
        <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" type="revolute">
        <origin xyz="0 -0.09 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <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" type="revolute">
        <origin xyz="0 0 0" rpy="-1.5708 -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="HeadYaw_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="HeadYaw_link" />
        <child link="HeadYaw" />
    </joint>
    <joint name="Head_effector_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="Head_effector" />
    </joint>
    <joint name="InfraredL_fixedjoint" type="fixed">
        <origin xyz="0.0466 0.0441 0.0257" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="InfraredL" />
    </joint>
    <joint name="InfraredR_fixedjoint" type="fixed">
        <origin xyz="0.0466 0.0441 -0.0257" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="InfraredR" />
    </joint>
    <joint name="LAnklePitchSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.01 0.01 -0.005" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LAnklePitch_link" />
        <child link="LAnklePitchSphereCollision_shape" />
    </joint>
    <joint name="LAnklePitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LAnklePitch_link" />
        <child link="LAnklePitch" />
    </joint>
    <joint name="LAnkleRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.03 -0.0025 0.0825" rpy="1.5708 -0 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LAnkleRollBothCollision_shape" />
    </joint>
    <joint name="LAnkleRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LAnkleRoll" />
    </joint>
    <joint name="LArm_effector_fixedjoint" type="fixed">
        <origin xyz="0 -0.10855 -0.0159" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LArm_effector" />
    </joint>
    <joint name="LElbowRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.06185 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollBothCollision_shape" />
    </joint>
    <joint name="LElbowRollSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.11 0" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRollSphereCollision_shape" />
    </joint>
    <joint name="LElbowRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LElbowRoll_link" />
        <child link="LElbowRoll" />
    </joint>
    <joint name="LElbowYaw_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LElbowYaw_link" />
        <child link="LElbowYaw" />
    </joint>
    <joint name="LFoot/Bumper/Left_fixedjoint" type="fixed">
        <origin xyz="-0.0353 -0.019 0.0876" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/Bumper/Left" />
    </joint>
    <joint name="LFoot/Bumper/Right_fixedjoint" type="fixed">
        <origin xyz="-0.0353 0.014 0.0876" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/Bumper/Right" />
    </joint>
    <joint name="LFoot/FSR/FrontLeft_fixedjoint" type="fixed">
        <origin xyz="-0.04511 -0.0299 0.07025" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/FrontLeft" />
    </joint>
    <joint name="LFoot/FSR/FrontRight_fixedjoint" type="fixed">
        <origin xyz="-0.04511 0.0231 0.07025" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/FrontRight" />
    </joint>
    <joint name="LFoot/FSR/RearLeft_fixedjoint" type="fixed">
        <origin xyz="-0.04511 -0.0299 -0.03025" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/RearLeft" />
    </joint>
    <joint name="LFoot/FSR/RearRight_fixedjoint" type="fixed">
        <origin xyz="-0.04511 0.0191 -0.02965" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LFoot/FSR/RearRight" />
    </joint>
    <joint name="LHipPitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.04 0.002225 0.002" rpy="-1.92942 -1.30074 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LHipPitch_link" />
        <child link="LHipPitchBothCollision_shape" />
    </joint>
    <joint name="LHipPitchMidCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0435 0 0.006" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LHipPitch_link" />
        <child link="LHipPitchMidCollision_shape" />
    </joint>
    <joint name="LHipPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LHipPitch_link" />
        <child link="LHipPitch" />
    </joint>
    <joint name="LHipRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LHipRoll_link" />
        <child link="LHipRoll" />
    </joint>
    <joint name="LHipYawPitchCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.00388908 -0.0225 -0.00742461" rpy="2.35619 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LHipYawPitch_link" />
        <child link="LHipYawPitchCollision_shape" />
    </joint>
    <joint name="LHipYawPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="2.35619 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LHipYawPitch_link" />
        <child link="LHipYawPitch" />
    </joint>
    <joint name="LKneePitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0575 -0.004 0.004" rpy="1.32449 0.785398 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LKneePitch_link" />
        <child link="LKneePitchBothCollision_shape" />
    </joint>
    <joint name="LKneePitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LKneePitch_link" />
        <child link="LKneePitch" />
    </joint>
    <joint name="LLeg_effector_fixedjoint" type="fixed">
        <origin xyz="-0.04511 0 0" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LAnkleRoll_link" />
        <child link="LLeg_effector" />
    </joint>
    <joint name="LShoulderPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LShoulderPitch_link" />
        <child link="LShoulderPitch" />
    </joint>
    <joint name="LShoulderRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LShoulderRoll_link" />
        <child link="LShoulderRoll" />
    </joint>
    <joint name="MicroFront_fixedjoint" type="fixed">
        <origin xyz="0.091 0.041 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroFront" />
    </joint>
    <joint name="MicroLeft_fixedjoint" type="fixed">
        <origin xyz="0.0331 -0.0195 0.0606" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroLeft" />
    </joint>
    <joint name="MicroRear_fixedjoint" type="fixed">
        <origin xyz="0.0693 -0.0577 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroRear" />
    </joint>
    <joint name="MicroRight_fixedjoint" type="fixed">
        <origin xyz="0.0331 -0.0195 -0.0606" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="MicroRight" />
    </joint>
    <joint name="RAnklePitchSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.01 0.01 0.005" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RAnklePitch_link" />
        <child link="RAnklePitchSphereCollision_shape" />
    </joint>
    <joint name="RAnklePitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RAnklePitch_link" />
        <child link="RAnklePitch" />
    </joint>
    <joint name="RAnkleRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.03 0.0025 0.0825" rpy="1.5708 -0 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RAnkleRollBothCollision_shape" />
    </joint>
    <joint name="RAnkleRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RAnkleRoll" />
    </joint>
    <joint name="RArm_effector_fixedjoint" type="fixed">
        <origin xyz="0 -0.10855 -0.0159" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RArm_effector" />
    </joint>
    <joint name="RElbowRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.06185 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollBothCollision_shape" />
    </joint>
    <joint name="RElbowRollSphereCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.11 0" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRollSphereCollision_shape" />
    </joint>
    <joint name="RElbowRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RElbowRoll_link" />
        <child link="RElbowRoll" />
    </joint>
    <joint name="RElbowYaw_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RElbowYaw_link" />
        <child link="RElbowYaw" />
    </joint>
    <joint name="RFoot/Bumper/Left_fixedjoint" type="fixed">
        <origin xyz="-0.0353 -0.014 0.0876" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/Bumper/Left" />
    </joint>
    <joint name="RFoot/Bumper/Right_fixedjoint" type="fixed">
        <origin xyz="-0.0353 0.019 0.0876" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/Bumper/Right" />
    </joint>
    <joint name="RFoot/FSR/FrontLeft_fixedjoint" type="fixed">
        <origin xyz="-0.04511 -0.0231 0.07025" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/FrontLeft" />
    </joint>
    <joint name="RFoot/FSR/FrontRight_fixedjoint" type="fixed">
        <origin xyz="-0.04511 0.0299 0.07025" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/FrontRight" />
    </joint>
    <joint name="RFoot/FSR/RearLeft_fixedjoint" type="fixed">
        <origin xyz="-0.04511 -0.0191 -0.03025" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/RearLeft" />
    </joint>
    <joint name="RFoot/FSR/RearRight_fixedjoint" type="fixed">
        <origin xyz="-0.04511 0.0299 -0.02965" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RFoot/FSR/RearRight" />
    </joint>
    <joint name="RHipPitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.04 0.002225 -0.002" rpy="1.21217 -1.30074 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RHipPitch_link" />
        <child link="RHipPitchBothCollision_shape" />
    </joint>
    <joint name="RHipPitchMidCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0435 0 -0.006" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RHipPitch_link" />
        <child link="RHipPitchMidCollision_shape" />
    </joint>
    <joint name="RHipPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RHipPitch_link" />
        <child link="RHipPitch" />
    </joint>
    <joint name="RHipRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RHipRoll_link" />
        <child link="RHipRoll" />
    </joint>
    <joint name="RHipYawPitchCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0.00388908 -0.0225 0.00742461" rpy="0.785398 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RHipYawPitch_link" />
        <child link="RHipYawPitchCollision_shape" />
    </joint>
    <joint name="RHipYawPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0.785398 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RHipYawPitch_link" />
        <child link="RHipYawPitch" />
    </joint>
    <joint name="RKneePitchBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="-0.0575 -0.004 -0.004" rpy="-1.81711 0.785398 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RKneePitch_link" />
        <child link="RKneePitchBothCollision_shape" />
    </joint>
    <joint name="RKneePitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RKneePitch_link" />
        <child link="RKneePitch" />
    </joint>
    <joint name="RLeg_effector_fixedjoint" type="fixed">
        <origin xyz="-0.04511 0 0" rpy="8.74228e-08 -1.5708 3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RAnkleRoll_link" />
        <child link="RLeg_effector" />
    </joint>
    <joint name="RShoulderPitch_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RShoulderPitch_link" />
        <child link="RShoulderPitch" />
    </joint>
    <joint name="RShoulderRoll_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="0 -0 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RShoulderRoll_link" />
        <child link="RShoulderRoll" />
    </joint>
    <joint name="Sonar/Left_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" />
    </joint>
    <joint name="Sonar/Right_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" />
    </joint>
    <joint name="SpeakerLeft_fixedjoint" type="fixed">
        <origin xyz="0.0526 0.0038 0.0453" rpy="-1.5708 -1.57079 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="SpeakerLeft" />
    </joint>
    <joint name="SpeakerRight_fixedjoint" type="fixed">
        <origin xyz="0.0526 0.0038 -0.0453" rpy="-1.5708 1.57079 -1.5708" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="SpeakerRight" />
    </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_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" />
    </joint>
    <joint name="USSensor2_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" />
    </joint>
    <joint name="USSensor3_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" />
    </joint>
    <joint name="USSensor4_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" />
    </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>
