<robot name="NaoT2V40">
    <material name="LightGrey">
        <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="HeadYaw" />
    <link name="Head_effector" />
    <link name="InfraredL" />
    <link name="InfraredR" />
    <link name="MicroFront" />
    <link name="MicroLeft" />
    <link name="MicroRear" />
    <link name="MicroRight" />
    <link name="Sonar/Left" />
    <link name="Sonar/Right" />
    <link name="SpeakerLeft" />
    <link name="SpeakerRight" />
    <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/V40T2/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="0.06442" />
            <origin xyz="-1e-05 0 -0.02742" rpy="0 -0 0" />
            <inertia ixx="2.65584e-05" ixy="1.57e-09" ixz="-6.76037e-10" iyy="2.75654e-05" iyz="-5.295e-08" izz="5.53372e-06" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="0 -0 0" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/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="0.60533" />
            <origin xyz="0.05258 -0.00112 -2.29834e-09" rpy="1.5708 5.55112e-17 1.5708" />
            <inertia ixx="0.000957766" ixy="8.78814e-06" ixz="5.33702e-06" iyy="0.000816836" iyz="-2.99579e-05" izz="0.000984976" />
        </inertial>
        <visual>
            <origin xyz="0 0 0" rpy="1.5708 5.55112e-17 1.5708" />
            <geometry>
                <mesh filename="file:////share/alrobotmodel/meshes/nao/V40/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" />
    <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="0.01774 0.05071 0" rpy="1.5708 5.55112e-17 2.26369" />
        <axis xyz="0 0 0" />
        <parent link="HeadPitch_link" />
        <child link="CameraBottom" />
    </joint>
    <joint name="CameraTop_fixedjoint" type="fixed">
        <origin xyz="0.06364 0.05871 0" rpy="1.5708 5.55112e-17 1.59174" />
        <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="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="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="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="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="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>
