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        <texture />
        <color rgba="0.9 0.9 0.9 1" />
    </material>
    <link name="Accelerometer" />
    <link name="Battery" />
    <link name="CameraBottom" />
    <link name="CameraTop" />
    <link name="ChestBoard/Button" />
    <link name="Gyrometer" />
    <link name="Head/Touch/Front" />
    <link name="Head/Touch/Middle" />
    <link name="Head/Touch/Rear" />
    <link name="HeadPitch" />
    <link name="HeadPitchBothCollision_shape">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.053" length="0.141" />
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        </collision>
    </link>
    <link name="HeadYaw" />
    <link name="Head_effector" />
    <link name="InfraredL" />
    <link name="InfraredR" />
    <link name="LArm_effector" />
    <link name="LElbowRoll" />
    <link name="LElbowRollBothCollision_shape">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.036" length="0.1743" />
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        </collision>
    </link>
    <link name="LElbowRollSphereCollision_shape">
        <collision>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.04" />
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        </collision>
    </link>
    <link name="LElbowYaw" />
    <link name="LFinger11_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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    <link name="LFinger12_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
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        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
    </link>
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        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
    </link>
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
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                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
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    <link name="LFinger23_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
    </link>
    <link name="LHand/Touch/Back" />
    <link name="LHand/Touch/Left" />
    <link name="LHand/Touch/Right" />
    <link name="LHand_actuator_frame" />
    <link name="LShoulderPitch" />
    <link name="LShoulderRoll" />
    <link name="LThumb1_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
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    <link name="LThumb2_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
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        </visual>
    </link>
    <link name="LWristYaw" />
    <link name="MicroFront" />
    <link name="MicroLeft" />
    <link name="MicroRear" />
    <link name="MicroRight" />
    <link name="RArm_effector" />
    <link name="RElbowRoll" />
    <link name="RElbowRollBothCollision_shape">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
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    </link>
    <link name="RElbowRollSphereCollision_shape">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <sphere radius="0.04" />
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        </collision>
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    <link name="RElbowYaw" />
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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            <material name="LightGrey">
                <texture />
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
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            <material name="LightGrey">
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
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        </visual>
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
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    <link name="RFinger23_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
                <color rgba="0.9 0.9 0.9 1" />
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        </visual>
    </link>
    <link name="RHand/Touch/Back" />
    <link name="RHand/Touch/Left" />
    <link name="RHand/Touch/Right" />
    <link name="RHand_actuator_frame" />
    <link name="RShoulderPitch" />
    <link name="RShoulderRoll" />
    <link name="RThumb1_link">
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/Phalax.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
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        </visual>
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/PhalaxEnd.mesh" scale="1 1 1" />
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            <material name="LightGrey">
                <texture />
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    </link>
    <link name="RWristYaw" />
    <link name="Sonar/Left" />
    <link name="Sonar/Right" />
    <link name="SpeakerLeft" />
    <link name="SpeakerRight" />
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            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <cylinder radius="0.0642" length="0.244407" />
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        </collision>
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            <origin xyz="0 0 0" rpy="0 -0 0" />
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                <sphere radius="2" />
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                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40T14/Torso.mesh" scale="1 1 1" />
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        <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="-0.314159" upper="1.32645" />
    </joint>
    <joint name="LElbowYaw" type="revolute">
        <origin xyz="0.015 -0.105 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="-1.54462" upper="-0.0349066" />
    </joint>
    <joint name="LWristYaw" type="revolute">
        <origin xyz="0 -0.05595 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="LElbowRoll_link" />
        <child link="LWristYaw_link" />
        <limit effort="0.4075" velocity="24.6229" lower="-1.82387" upper="1.82387" />
    </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="-1.32645" upper="0.314159" />
    </joint>
    <joint name="RElbowYaw" type="revolute">
        <origin xyz="-0.015 -0.105 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="0.0349066" upper="1.54462" />
    </joint>
    <joint name="RWristYaw" type="revolute">
        <origin xyz="0 -0.05595 0" rpy="1.5708 -0 0" />
        <axis xyz="0 0 1" />
        <parent link="RElbowRoll_link" />
        <child link="RWristYaw_link" />
        <limit effort="0.4075" velocity="24.6229" lower="-1.82387" upper="1.82387" />
    </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="LArm_effector_fixedjoint" type="fixed">
        <origin xyz="0 -0.01231 0.05775" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LArm_effector" />
    </joint>
    <joint name="LElbowRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.06485 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 -0.116 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="LFinger11" type="continuous">
        <origin xyz="0.01157 -0.00304 0.06907" rpy="1.5708 -0.570897 -1.39626" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger11_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand" />
    </joint>
    <joint name="LFinger12" 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" />
    </joint>
    <joint name="LFinger13" 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" />
    </joint>
    <joint name="LFinger21" type="continuous">
        <origin xyz="-0.01157 -0.00304 0.06907" rpy="1.5708 -0.570897 -1.74533" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LFinger21_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand" />
    </joint>
    <joint name="LFinger22" 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" />
    </joint>
    <joint name="LFinger23" 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" />
    </joint>
    <joint name="LHand" type="revolute">
        <origin xyz="0 -0.01231 0.05775" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="1 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand_actuator_frame" />
        <limit effort="0.292" velocity="8.33" lower="0" upper="1" />
    </joint>
    <joint name="LHand/Touch/Back_fixedjoint" type="fixed">
        <origin xyz="0 0.025 0.038" rpy="-3.14159 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Back" />
    </joint>
    <joint name="LHand/Touch/Left_fixedjoint" type="fixed">
        <origin xyz="0.025 0.003 0.032" rpy="-1.5708 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Left" />
    </joint>
    <joint name="LHand/Touch/Right_fixedjoint" type="fixed">
        <origin xyz="-0.025 0.0035 0.035" rpy="1.5708 -0 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LHand/Touch/Right" />
    </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="LThumb1" type="continuous">
        <origin xyz="0 -0.02638 0.04895" rpy="-1.5708 -1.5235 -1.5708" />
        <axis xyz="0 0 1" />
        <parent link="LWristYaw_link" />
        <child link="LThumb1_link" />
        <mimic offset="0" multiplier="0.999899" joint="LHand" />
    </joint>
    <joint name="LThumb2" 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" />
    </joint>
    <joint name="LWristYaw_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="LWristYaw_link" />
        <child link="LWristYaw" />
    </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="RArm_effector_fixedjoint" type="fixed">
        <origin xyz="0 -0.01231 0.05775" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RArm_effector" />
    </joint>
    <joint name="RElbowRollBothCollision_shape_fixedjoint" type="fixed">
        <origin xyz="0 -0.06485 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 -0.116 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="RFinger11" type="continuous">
        <origin xyz="0.01157 -0.00304 0.06907" rpy="1.5708 -0.570897 -1.39626" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger11_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand" />
    </joint>
    <joint name="RFinger12" 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" />
    </joint>
    <joint name="RFinger13" 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" />
    </joint>
    <joint name="RFinger21" type="continuous">
        <origin xyz="-0.01157 -0.00304 0.06907" rpy="1.5708 -0.570897 -1.74533" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RFinger21_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand" />
    </joint>
    <joint name="RFinger22" 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" />
    </joint>
    <joint name="RFinger23" 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" />
    </joint>
    <joint name="RHand" type="revolute">
        <origin xyz="0 -0.01231 0.05775" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="1 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand_actuator_frame" />
        <limit effort="0.292" velocity="8.33" lower="0" upper="1" />
    </joint>
    <joint name="RHand/Touch/Back_fixedjoint" type="fixed">
        <origin xyz="0 0.025 0.038" rpy="-3.14159 -0 1.5708" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Back" />
    </joint>
    <joint name="RHand/Touch/Left_fixedjoint" type="fixed">
        <origin xyz="0.025 0.003 0.032" rpy="-1.5708 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Left" />
    </joint>
    <joint name="RHand/Touch/Right_fixedjoint" type="fixed">
        <origin xyz="-0.025 0.0035 0.035" rpy="1.5708 -0 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RHand/Touch/Right" />
    </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="RThumb1" type="continuous">
        <origin xyz="0 -0.02638 0.04895" rpy="-1.5708 -1.5235 -1.5708" />
        <axis xyz="0 0 1" />
        <parent link="RWristYaw_link" />
        <child link="RThumb1_link" />
        <mimic offset="0" multiplier="0.999899" joint="RHand" />
    </joint>
    <joint name="RThumb2" 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" />
    </joint>
    <joint name="RWristYaw_fixedjoint" type="fixed">
        <origin xyz="0 0 0" rpy="1.5708 -1.5708 -3.14159" />
        <axis xyz="0 0 0" />
        <parent link="RWristYaw_link" />
        <child link="RWristYaw" />
    </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="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_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 0.0526" rpy="0 -0 0" />
        <axis xyz="0 0 0" />
        <parent link="base_link" />
        <child link="Torso_link" />
    </joint>
</robot>
