From 597f5961115c35244380babaf05544622cf6963a Mon Sep 17 00:00:00 2001
From: Fabien Grzeskowiak <fabien.grzeskowiak@inria.fr>
Date: Wed, 19 Jun 2019 18:14:04 +0200
Subject: [PATCH] add official pepper urdf model and launch file to publish a
robot_description
---
crowdbotsim/PepperURDF_V2.urdf | 356 --
crowdbotsim/default/robot_description.urdf | 2159 +++++++
crowdbotsim/launch/.rviz_urdf_show.launch.swp | Bin 12288 -> 0 bytes
.../launch/joint_state_publisher.launch | 6 +
crowdbotsim/launch/unity_sim.launch | 2 -
.../launch/upload_robot_description.launch | 6 +
crowdbotsim/meshes/HeadPitch.dae | 289 +
crowdbotsim/meshes/HeadPitch.mtl | 39 +
crowdbotsim/meshes/HeadPitch_0.10.stl | Bin 7934 -> 7934 bytes
crowdbotsim/meshes/HeadPitch_ears.obj | 198 +
crowdbotsim/meshes/HeadPitch_eyes.obj | 201 +
crowdbotsim/meshes/HeadPitch_milky.obj | 944 +++
crowdbotsim/meshes/HeadPitch_shiny.obj | 3414 ++++++++++
crowdbotsim/meshes/HeadYaw.dae | 120 +
crowdbotsim/meshes/HeadYaw.mtl | 11 +
crowdbotsim/meshes/HeadYaw.obj | 2399 +++++++
crowdbotsim/meshes/HeadYaw_0.10.stl | Bin 4284 -> 4284 bytes
crowdbotsim/meshes/HipPitch.dae | 155 +
crowdbotsim/meshes/HipPitch.mtl | 19 +
crowdbotsim/meshes/HipPitch_0.10.stl | Bin 6084 -> 6084 bytes
crowdbotsim/meshes/HipPitch_milky.obj | 1892 ++++++
crowdbotsim/meshes/HipPitch_shiny.obj | 2799 +++++++++
crowdbotsim/meshes/HipRoll.dae | 116 +
crowdbotsim/meshes/HipRoll.mtl | 11 +
crowdbotsim/meshes/HipRoll.obj | 1252 ++++
crowdbotsim/meshes/HipRoll_0.10.stl | Bin 2784 -> 2784 bytes
crowdbotsim/meshes/KneePitch.dae | 155 +
crowdbotsim/meshes/KneePitch.mtl | 19 +
crowdbotsim/meshes/KneePitch_0.10.stl | Bin 6634 -> 6634 bytes
crowdbotsim/meshes/KneePitch_milky.obj | 812 +++
crowdbotsim/meshes/KneePitch_shiny.obj | 3313 ++++++++++
crowdbotsim/meshes/LElbowRoll.dae | 143 +
crowdbotsim/meshes/LElbowRoll.mtl | 19 +
crowdbotsim/meshes/LElbowRoll_0.10.stl | Bin 1384 -> 1384 bytes
crowdbotsim/meshes/LElbowRoll_milky.obj | 657 ++
crowdbotsim/meshes/LElbowRoll_shiny.obj | 453 ++
crowdbotsim/meshes/LElbowYaw.dae | 116 +
crowdbotsim/meshes/LElbowYaw.mtl | 11 +
crowdbotsim/meshes/LElbowYaw.obj | 1169 ++++
crowdbotsim/meshes/LElbowYaw_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LFinger11.dae | 110 +
crowdbotsim/meshes/LFinger11.mtl | 11 +
crowdbotsim/meshes/LFinger11.obj | 779 +++
crowdbotsim/meshes/LFinger11_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger12.dae | 110 +
crowdbotsim/meshes/LFinger12.mtl | 11 +
crowdbotsim/meshes/LFinger12.obj | 779 +++
crowdbotsim/meshes/LFinger12_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger13.dae | 114 +
crowdbotsim/meshes/LFinger13.mtl | 11 +
crowdbotsim/meshes/LFinger13.obj | 1079 ++++
crowdbotsim/meshes/LFinger13_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LFinger21.dae | 110 +
crowdbotsim/meshes/LFinger21.mtl | 11 +
crowdbotsim/meshes/LFinger21.obj | 779 +++
crowdbotsim/meshes/LFinger21_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger22.dae | 110 +
crowdbotsim/meshes/LFinger22.mtl | 11 +
crowdbotsim/meshes/LFinger22.obj | 779 +++
crowdbotsim/meshes/LFinger22_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger23.dae | 110 +
crowdbotsim/meshes/LFinger23.mtl | 11 +
crowdbotsim/meshes/LFinger23.obj | 1072 ++++
crowdbotsim/meshes/LFinger23_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LFinger31.dae | 110 +
crowdbotsim/meshes/LFinger31.mtl | 11 +
crowdbotsim/meshes/LFinger31.obj | 779 +++
crowdbotsim/meshes/LFinger31_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger32.dae | 110 +
crowdbotsim/meshes/LFinger32.mtl | 11 +
crowdbotsim/meshes/LFinger32.obj | 779 +++
crowdbotsim/meshes/LFinger32_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger33.dae | 110 +
crowdbotsim/meshes/LFinger33.mtl | 11 +
crowdbotsim/meshes/LFinger33.obj | 1072 ++++
crowdbotsim/meshes/LFinger33_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LFinger41.dae | 110 +
crowdbotsim/meshes/LFinger41.mtl | 11 +
crowdbotsim/meshes/LFinger41.obj | 779 +++
crowdbotsim/meshes/LFinger41_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger42.dae | 110 +
crowdbotsim/meshes/LFinger42.mtl | 11 +
crowdbotsim/meshes/LFinger42.obj | 779 +++
crowdbotsim/meshes/LFinger42_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LFinger43.dae | 110 +
crowdbotsim/meshes/LFinger43.mtl | 11 +
crowdbotsim/meshes/LFinger43.obj | 1072 ++++
crowdbotsim/meshes/LFinger43_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LShoulderPitch.dae | 116 +
crowdbotsim/meshes/LShoulderPitch.mtl | 11 +
crowdbotsim/meshes/LShoulderPitch.obj | 1122 ++++
crowdbotsim/meshes/LShoulderPitch_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/LShoulderRoll.dae | 155 +
crowdbotsim/meshes/LShoulderRoll.mtl | 19 +
crowdbotsim/meshes/LShoulderRoll_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/LShoulderRoll_milky.obj | 901 +++
crowdbotsim/meshes/LShoulderRoll_shiny.obj | 372 ++
crowdbotsim/meshes/LThumb1.dae | 110 +
crowdbotsim/meshes/LThumb1.mtl | 11 +
crowdbotsim/meshes/LThumb1.obj | 779 +++
crowdbotsim/meshes/LThumb1_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/LThumb2.dae | 114 +
crowdbotsim/meshes/LThumb2.mtl | 11 +
crowdbotsim/meshes/LThumb2.obj | 1079 ++++
crowdbotsim/meshes/LThumb2_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/LWristYaw.dae | 104 +
crowdbotsim/meshes/LWristYaw.mtl | 11 +
crowdbotsim/meshes/LWristYaw.obj | 5530 +++++++++++++++++
crowdbotsim/meshes/LWristYaw_0.10.stl | Bin 10534 -> 10534 bytes
crowdbotsim/meshes/README.md | 28 +
crowdbotsim/meshes/RElbowRoll.dae | 143 +
crowdbotsim/meshes/RElbowRoll.mtl | 19 +
crowdbotsim/meshes/RElbowRoll.obj | 764 +++
crowdbotsim/meshes/RElbowRoll_0.10.stl | Bin 1384 -> 1384 bytes
crowdbotsim/meshes/RElbowRoll_milky.obj | 666 ++
crowdbotsim/meshes/RElbowRoll_shiny.obj | 468 ++
crowdbotsim/meshes/RElbowYaw.dae | 116 +
crowdbotsim/meshes/RElbowYaw.mtl | 11 +
crowdbotsim/meshes/RElbowYaw.obj | 1170 ++++
crowdbotsim/meshes/RElbowYaw_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RFinger11.dae | 110 +
crowdbotsim/meshes/RFinger11.mtl | 11 +
crowdbotsim/meshes/RFinger11.obj | 779 +++
crowdbotsim/meshes/RFinger11_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger12.dae | 110 +
crowdbotsim/meshes/RFinger12.mtl | 11 +
crowdbotsim/meshes/RFinger12.obj | 779 +++
crowdbotsim/meshes/RFinger12_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger13.dae | 114 +
crowdbotsim/meshes/RFinger13.mtl | 11 +
crowdbotsim/meshes/RFinger13.obj | 1079 ++++
crowdbotsim/meshes/RFinger13_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RFinger21.dae | 110 +
crowdbotsim/meshes/RFinger21.mtl | 11 +
crowdbotsim/meshes/RFinger21.obj | 779 +++
crowdbotsim/meshes/RFinger21_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger22.dae | 110 +
crowdbotsim/meshes/RFinger22.mtl | 11 +
crowdbotsim/meshes/RFinger22.obj | 779 +++
crowdbotsim/meshes/RFinger22_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger23.dae | 110 +
crowdbotsim/meshes/RFinger23.mtl | 11 +
crowdbotsim/meshes/RFinger23.obj | 1072 ++++
crowdbotsim/meshes/RFinger23_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RFinger31.dae | 110 +
crowdbotsim/meshes/RFinger31.mtl | 11 +
crowdbotsim/meshes/RFinger31.obj | 779 +++
crowdbotsim/meshes/RFinger31_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger32.dae | 110 +
crowdbotsim/meshes/RFinger32.mtl | 11 +
crowdbotsim/meshes/RFinger32.obj | 779 +++
crowdbotsim/meshes/RFinger32_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger33.dae | 110 +
crowdbotsim/meshes/RFinger33.mtl | 11 +
crowdbotsim/meshes/RFinger33.obj | 1072 ++++
crowdbotsim/meshes/RFinger33_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RFinger41.dae | 110 +
crowdbotsim/meshes/RFinger41.mtl | 11 +
crowdbotsim/meshes/RFinger41.obj | 779 +++
crowdbotsim/meshes/RFinger41_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger42.dae | 110 +
crowdbotsim/meshes/RFinger42.mtl | 11 +
crowdbotsim/meshes/RFinger42.obj | 779 +++
crowdbotsim/meshes/RFinger42_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RFinger43.dae | 110 +
crowdbotsim/meshes/RFinger43.mtl | 11 +
crowdbotsim/meshes/RFinger43.obj | 1072 ++++
crowdbotsim/meshes/RFinger43_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RShoulderPitch.dae | 116 +
crowdbotsim/meshes/RShoulderPitch.mtl | 11 +
crowdbotsim/meshes/RShoulderPitch.obj | 1122 ++++
crowdbotsim/meshes/RShoulderPitch_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/RShoulderRoll.dae | 155 +
crowdbotsim/meshes/RShoulderRoll.mtl | 19 +
crowdbotsim/meshes/RShoulderRoll_0.10.stl | Bin 2184 -> 2184 bytes
crowdbotsim/meshes/RShoulderRoll_milky.obj | 903 +++
crowdbotsim/meshes/RShoulderRoll_shiny.obj | 374 ++
crowdbotsim/meshes/RThumb1.dae | 110 +
crowdbotsim/meshes/RThumb1.mtl | 11 +
crowdbotsim/meshes/RThumb1.obj | 779 +++
crowdbotsim/meshes/RThumb1_0.10.stl | Bin 1684 -> 1684 bytes
crowdbotsim/meshes/RThumb2.dae | 114 +
crowdbotsim/meshes/RThumb2.mtl | 11 +
crowdbotsim/meshes/RThumb2.obj | 1079 ++++
crowdbotsim/meshes/RThumb2_0.10.stl | Bin 2284 -> 2284 bytes
crowdbotsim/meshes/RWristYaw.dae | 104 +
crowdbotsim/meshes/RWristYaw.mtl | 11 +
crowdbotsim/meshes/RWristYaw.obj | 4865 +++++++++++++++
crowdbotsim/meshes/RWristYaw_0.10.stl | Bin 10534 -> 10534 bytes
crowdbotsim/meshes/Torso.dae | 203 +
crowdbotsim/meshes/Torso.mtl | 27 +
crowdbotsim/meshes/Torso_0.10.stl | Bin 5384 -> 5384 bytes
crowdbotsim/meshes/Torso_milky.obj | 1644 +++++
crowdbotsim/meshes/Torso_shiny.obj | 1823 ++++++
crowdbotsim/meshes/Torso_transparent.obj | 46 +
crowdbotsim/meshes/WheelB.dae | 110 +
crowdbotsim/meshes/WheelB.mtl | 11 +
crowdbotsim/meshes/WheelB.obj | 1978 ++++++
crowdbotsim/meshes/WheelB_0.10.stl | Bin 3884 -> 3884 bytes
crowdbotsim/meshes/WheelFL.dae | 110 +
crowdbotsim/meshes/WheelFL.mtl | 11 +
crowdbotsim/meshes/WheelFL.obj | 1978 ++++++
crowdbotsim/meshes/WheelFL_0.10.stl | Bin 3884 -> 3884 bytes
crowdbotsim/meshes/WheelFR.dae | 110 +
crowdbotsim/meshes/WheelFR.mtl | 11 +
crowdbotsim/meshes/WheelFR.obj | 1978 ++++++
crowdbotsim/meshes/WheelFR_0.10.stl | Bin 3884 -> 3884 bytes
crowdbotsim/meshes/juliette_ear.png | Bin 0 -> 301 bytes
crowdbotsim/meshes/juliette_eyes.png | Bin 0 -> 309 bytes
crowdbotsim/meshes/juliette_face.png | Bin 0 -> 381 bytes
crowdbotsim/meshes/pepper.material | 206 +
crowdbotsim/pepper.urdf | 2159 +++++++
crowdbotsim/urdf/PepperURDF_V2.urdf | 356 --
213 files changed, 82882 insertions(+), 714 deletions(-)
delete mode 100644 crowdbotsim/PepperURDF_V2.urdf
create mode 100644 crowdbotsim/default/robot_description.urdf
delete mode 100644 crowdbotsim/launch/.rviz_urdf_show.launch.swp
create mode 100644 crowdbotsim/launch/joint_state_publisher.launch
create mode 100644 crowdbotsim/launch/upload_robot_description.launch
create mode 100644 crowdbotsim/meshes/HeadPitch.dae
create mode 100644 crowdbotsim/meshes/HeadPitch.mtl
create mode 100644 crowdbotsim/meshes/HeadPitch_ears.obj
create mode 100644 crowdbotsim/meshes/HeadPitch_eyes.obj
create mode 100644 crowdbotsim/meshes/HeadPitch_milky.obj
create mode 100644 crowdbotsim/meshes/HeadPitch_shiny.obj
create mode 100644 crowdbotsim/meshes/HeadYaw.dae
create mode 100644 crowdbotsim/meshes/HeadYaw.mtl
create mode 100644 crowdbotsim/meshes/HeadYaw.obj
create mode 100644 crowdbotsim/meshes/HipPitch.dae
create mode 100644 crowdbotsim/meshes/HipPitch.mtl
create mode 100644 crowdbotsim/meshes/HipPitch_milky.obj
create mode 100644 crowdbotsim/meshes/HipPitch_shiny.obj
create mode 100644 crowdbotsim/meshes/HipRoll.dae
create mode 100644 crowdbotsim/meshes/HipRoll.mtl
create mode 100644 crowdbotsim/meshes/HipRoll.obj
create mode 100644 crowdbotsim/meshes/KneePitch.dae
create mode 100644 crowdbotsim/meshes/KneePitch.mtl
create mode 100644 crowdbotsim/meshes/KneePitch_milky.obj
create mode 100644 crowdbotsim/meshes/KneePitch_shiny.obj
create mode 100644 crowdbotsim/meshes/LElbowRoll.dae
create mode 100644 crowdbotsim/meshes/LElbowRoll.mtl
create mode 100644 crowdbotsim/meshes/LElbowRoll_milky.obj
create mode 100644 crowdbotsim/meshes/LElbowRoll_shiny.obj
create mode 100644 crowdbotsim/meshes/LElbowYaw.dae
create mode 100644 crowdbotsim/meshes/LElbowYaw.mtl
create mode 100644 crowdbotsim/meshes/LElbowYaw.obj
create mode 100644 crowdbotsim/meshes/LFinger11.dae
create mode 100644 crowdbotsim/meshes/LFinger11.mtl
create mode 100644 crowdbotsim/meshes/LFinger11.obj
create mode 100644 crowdbotsim/meshes/LFinger12.dae
create mode 100644 crowdbotsim/meshes/LFinger12.mtl
create mode 100644 crowdbotsim/meshes/LFinger12.obj
create mode 100644 crowdbotsim/meshes/LFinger13.dae
create mode 100644 crowdbotsim/meshes/LFinger13.mtl
create mode 100644 crowdbotsim/meshes/LFinger13.obj
create mode 100644 crowdbotsim/meshes/LFinger21.dae
create mode 100644 crowdbotsim/meshes/LFinger21.mtl
create mode 100644 crowdbotsim/meshes/LFinger21.obj
create mode 100644 crowdbotsim/meshes/LFinger22.dae
create mode 100644 crowdbotsim/meshes/LFinger22.mtl
create mode 100644 crowdbotsim/meshes/LFinger22.obj
create mode 100644 crowdbotsim/meshes/LFinger23.dae
create mode 100644 crowdbotsim/meshes/LFinger23.mtl
create mode 100644 crowdbotsim/meshes/LFinger23.obj
create mode 100644 crowdbotsim/meshes/LFinger31.dae
create mode 100644 crowdbotsim/meshes/LFinger31.mtl
create mode 100644 crowdbotsim/meshes/LFinger31.obj
create mode 100644 crowdbotsim/meshes/LFinger32.dae
create mode 100644 crowdbotsim/meshes/LFinger32.mtl
create mode 100644 crowdbotsim/meshes/LFinger32.obj
create mode 100644 crowdbotsim/meshes/LFinger33.dae
create mode 100644 crowdbotsim/meshes/LFinger33.mtl
create mode 100644 crowdbotsim/meshes/LFinger33.obj
create mode 100644 crowdbotsim/meshes/LFinger41.dae
create mode 100644 crowdbotsim/meshes/LFinger41.mtl
create mode 100644 crowdbotsim/meshes/LFinger41.obj
create mode 100644 crowdbotsim/meshes/LFinger42.dae
create mode 100644 crowdbotsim/meshes/LFinger42.mtl
create mode 100644 crowdbotsim/meshes/LFinger42.obj
create mode 100644 crowdbotsim/meshes/LFinger43.dae
create mode 100644 crowdbotsim/meshes/LFinger43.mtl
create mode 100644 crowdbotsim/meshes/LFinger43.obj
create mode 100644 crowdbotsim/meshes/LShoulderPitch.dae
create mode 100644 crowdbotsim/meshes/LShoulderPitch.mtl
create mode 100644 crowdbotsim/meshes/LShoulderPitch.obj
create mode 100644 crowdbotsim/meshes/LShoulderRoll.dae
create mode 100644 crowdbotsim/meshes/LShoulderRoll.mtl
create mode 100644 crowdbotsim/meshes/LShoulderRoll_milky.obj
create mode 100644 crowdbotsim/meshes/LShoulderRoll_shiny.obj
create mode 100644 crowdbotsim/meshes/LThumb1.dae
create mode 100644 crowdbotsim/meshes/LThumb1.mtl
create mode 100644 crowdbotsim/meshes/LThumb1.obj
create mode 100644 crowdbotsim/meshes/LThumb2.dae
create mode 100644 crowdbotsim/meshes/LThumb2.mtl
create mode 100644 crowdbotsim/meshes/LThumb2.obj
create mode 100644 crowdbotsim/meshes/LWristYaw.dae
create mode 100644 crowdbotsim/meshes/LWristYaw.mtl
create mode 100644 crowdbotsim/meshes/LWristYaw.obj
create mode 100644 crowdbotsim/meshes/README.md
create mode 100644 crowdbotsim/meshes/RElbowRoll.dae
create mode 100644 crowdbotsim/meshes/RElbowRoll.mtl
create mode 100644 crowdbotsim/meshes/RElbowRoll.obj
create mode 100644 crowdbotsim/meshes/RElbowRoll_milky.obj
create mode 100644 crowdbotsim/meshes/RElbowRoll_shiny.obj
create mode 100644 crowdbotsim/meshes/RElbowYaw.dae
create mode 100644 crowdbotsim/meshes/RElbowYaw.mtl
create mode 100644 crowdbotsim/meshes/RElbowYaw.obj
create mode 100644 crowdbotsim/meshes/RFinger11.dae
create mode 100644 crowdbotsim/meshes/RFinger11.mtl
create mode 100644 crowdbotsim/meshes/RFinger11.obj
create mode 100644 crowdbotsim/meshes/RFinger12.dae
create mode 100644 crowdbotsim/meshes/RFinger12.mtl
create mode 100644 crowdbotsim/meshes/RFinger12.obj
create mode 100644 crowdbotsim/meshes/RFinger13.dae
create mode 100644 crowdbotsim/meshes/RFinger13.mtl
create mode 100644 crowdbotsim/meshes/RFinger13.obj
create mode 100644 crowdbotsim/meshes/RFinger21.dae
create mode 100644 crowdbotsim/meshes/RFinger21.mtl
create mode 100644 crowdbotsim/meshes/RFinger21.obj
create mode 100644 crowdbotsim/meshes/RFinger22.dae
create mode 100644 crowdbotsim/meshes/RFinger22.mtl
create mode 100644 crowdbotsim/meshes/RFinger22.obj
create mode 100644 crowdbotsim/meshes/RFinger23.dae
create mode 100644 crowdbotsim/meshes/RFinger23.mtl
create mode 100644 crowdbotsim/meshes/RFinger23.obj
create mode 100644 crowdbotsim/meshes/RFinger31.dae
create mode 100644 crowdbotsim/meshes/RFinger31.mtl
create mode 100644 crowdbotsim/meshes/RFinger31.obj
create mode 100644 crowdbotsim/meshes/RFinger32.dae
create mode 100644 crowdbotsim/meshes/RFinger32.mtl
create mode 100644 crowdbotsim/meshes/RFinger32.obj
create mode 100644 crowdbotsim/meshes/RFinger33.dae
create mode 100644 crowdbotsim/meshes/RFinger33.mtl
create mode 100644 crowdbotsim/meshes/RFinger33.obj
create mode 100644 crowdbotsim/meshes/RFinger41.dae
create mode 100644 crowdbotsim/meshes/RFinger41.mtl
create mode 100644 crowdbotsim/meshes/RFinger41.obj
create mode 100644 crowdbotsim/meshes/RFinger42.dae
create mode 100644 crowdbotsim/meshes/RFinger42.mtl
create mode 100644 crowdbotsim/meshes/RFinger42.obj
create mode 100644 crowdbotsim/meshes/RFinger43.dae
create mode 100644 crowdbotsim/meshes/RFinger43.mtl
create mode 100644 crowdbotsim/meshes/RFinger43.obj
create mode 100644 crowdbotsim/meshes/RShoulderPitch.dae
create mode 100644 crowdbotsim/meshes/RShoulderPitch.mtl
create mode 100644 crowdbotsim/meshes/RShoulderPitch.obj
create mode 100644 crowdbotsim/meshes/RShoulderRoll.dae
create mode 100644 crowdbotsim/meshes/RShoulderRoll.mtl
create mode 100644 crowdbotsim/meshes/RShoulderRoll_milky.obj
create mode 100644 crowdbotsim/meshes/RShoulderRoll_shiny.obj
create mode 100644 crowdbotsim/meshes/RThumb1.dae
create mode 100644 crowdbotsim/meshes/RThumb1.mtl
create mode 100644 crowdbotsim/meshes/RThumb1.obj
create mode 100644 crowdbotsim/meshes/RThumb2.dae
create mode 100644 crowdbotsim/meshes/RThumb2.mtl
create mode 100644 crowdbotsim/meshes/RThumb2.obj
create mode 100644 crowdbotsim/meshes/RWristYaw.dae
create mode 100644 crowdbotsim/meshes/RWristYaw.mtl
create mode 100644 crowdbotsim/meshes/RWristYaw.obj
create mode 100644 crowdbotsim/meshes/Torso.dae
create mode 100644 crowdbotsim/meshes/Torso.mtl
create mode 100644 crowdbotsim/meshes/Torso_milky.obj
create mode 100644 crowdbotsim/meshes/Torso_shiny.obj
create mode 100644 crowdbotsim/meshes/Torso_transparent.obj
create mode 100644 crowdbotsim/meshes/WheelB.dae
create mode 100644 crowdbotsim/meshes/WheelB.mtl
create mode 100644 crowdbotsim/meshes/WheelB.obj
create mode 100644 crowdbotsim/meshes/WheelFL.dae
create mode 100644 crowdbotsim/meshes/WheelFL.mtl
create mode 100644 crowdbotsim/meshes/WheelFL.obj
create mode 100644 crowdbotsim/meshes/WheelFR.dae
create mode 100644 crowdbotsim/meshes/WheelFR.mtl
create mode 100644 crowdbotsim/meshes/WheelFR.obj
create mode 100644 crowdbotsim/meshes/juliette_ear.png
create mode 100644 crowdbotsim/meshes/juliette_eyes.png
create mode 100644 crowdbotsim/meshes/juliette_face.png
create mode 100644 crowdbotsim/meshes/pepper.material
create mode 100644 crowdbotsim/pepper.urdf
delete mode 100644 crowdbotsim/urdf/PepperURDF_V2.urdf
diff --git a/crowdbotsim/PepperURDF_V2.urdf b/crowdbotsim/PepperURDF_V2.urdf
deleted file mode 100644
index a1455e1..0000000
--- a/crowdbotsim/PepperURDF_V2.urdf
+++ /dev/null
@@ -1,356 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<robot name="PepperURDF_V2">
- <material name="Default-Diffuse">
- <color rgba="1 1 1 0.5" />
- </material>
- <link name="base_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.005098 -0.042533 -7.7E-05" />
- <mass value="100" />
- <inertia ixx="1.05186545848846" ixy="0.018275074660778" ixz="-0.000129771753563546" iyy="1.13719856739044" iyz="1.46421336921776E-06" izz="1.86898028850555" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/wheels_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/wheels_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="leg">
- <inertial>
- <origin rpy="0 0 0" xyz="0.279763 0.213669 0.135611" />
- <mass value="1" />
- <inertia ixx="0.0180095843970776" ixy="-2.34699271572936E-07" ixz="1.18836505862419E-05" iyy="0.0188758466392756" iyz="-0.000247422169195488" izz="0.0195367336273193" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/leg_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/leg_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="lower_body">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.000243 -0.004785 0.210595" />
- <mass value="1" />
- <inertia ixx="0.0121049741283059" ixy="-1.11695771920495E-06" ixz="-1.00647946510435E-06" iyy="0.0133131388574839" iyz="-0.000216337226447649" izz="0.00582358427345753" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/lower_body_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/lower_body_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="upper_body">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/upper_body_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="upper_body_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000145 0.007959 0.147839" />
- <mass value="1" />
- <inertia ixx="0.0101322364062071" ixy="6.08802156421007E-06" ixz="1.08719386844314E-05" iyy="0.0113384993746877" iyz="-0.00180153537075967" izz="0.00987729430198669" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/upper_body_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/upper_body_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="head_with_neck">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="head_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000146 -0.002998 0.113767" />
- <mass value="0.1000000015" />
- <inertia ixx="0.000488856574520469" ixy="6.2015026003337E-08" ixz="-5.97300164884018E-09" iyy="0.00046832615043968" iyz="-1.6081739886431E-05" izz="0.000375640578567982" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/head_with_neck_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/head_with_neck_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="R_shoulder">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="R_shoulder_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000152 0.004622 -0.070478" />
- <mass value="1" />
- <inertia ixx="0.00407197093591094" ixy="-6.48579589324072E-06" ixz="-2.84660618490307E-05" iyy="0.00408145179972053" iyz="0.000142000542837195" izz="0.00104234518948942" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="R_arm">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="R_arm_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000778 0.001404 -0.057074" />
- <mass value="1" />
- <inertia ixx="0.00222960580140352" ixy="4.38667200342024E-07" ixz="2.52073041338008E-05" iyy="0.00223079253919423" iyz="-2.26591200771509E-05" izz="0.000629508809652179" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_arm_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_arm_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="R_wrist">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000602 -0.00316 -0.071635" />
- <mass value="1" />
- <inertia ixx="0.0018392113270238" ixy="5.50170116184745E-05" ixz="6.07900619797874E-06" iyy="0.00166046118829399" iyz="-2.35318366321735E-05" izz="0.000787981203757226" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_hand_0.stl" scale="1.000001 0.999999 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_hand_0.stl" scale="1.000001 0.999999 1" />
- </geometry>
- </collision>
- </link>
- <link name="L_Shoulder">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="L_Shoulder_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000647 0.004307 -0.07035" />
- <mass value="1" />
- <inertia ixx="0.00407200958579779" ixy="6.58449107504566E-06" ixz="2.63808160525514E-05" iyy="0.00408139172941446" iyz="0.000142557182698511" izz="0.00104235962498933" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="L_arm">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="L_arm_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.00113 0.00131 -0.056609" />
- <mass value="1" />
- <inertia ixx="0.00222989497706294" ixy="-4.78613515042525E-07" ixz="-2.51892197411507E-06" iyy="0.00223207217641175" iyz="-1.84244709089398E-05" izz="0.000628753390628845" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_arm_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_arm_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="L_wrist">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.001083 -0.003146 -0.071446" />
- <mass value="1" />
- <inertia ixx="0.00183271104469895" ixy="-5.81331405555829E-05" ixz="-8.70803069119575E-06" iyy="0.00165802123956382" iyz="-3.94846174458507E-05" izz="0.00078337307786569" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_hand_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_hand_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <joint name="base_link_leg_joint" type="fixed">
- <origin xyz="-0.28 -0.25 -0.05" />
- <parent link="base_link" />
- <child link="leg" />
- </joint>
- <joint name="leg_lower_body_joint" type="revolute">
- <origin rpy="-0.271867 0 0" xyz="0.28 0.22 0.33" />
- <parent link="leg" />
- <child link="lower_body" />
- <axis xyz="1 0 0" />
- <limit lower="-0.523599" upper="0.087266" effort="1000" velocity="1000" />
- </joint>
- <joint name="lower_body_upper_body_joint" type="revolute">
- <origin rpy="-5.310895 0 0" xyz="0 0 0.42" />
- <parent link="lower_body" />
- <child link="upper_body" />
- <axis xyz="1 0 0" />
- <limit lower="-0.087266" upper="0.523599" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_upper_body_roll_joint" type="revolute">
- <origin rpy="-0.756468 0 0" />
- <parent link="upper_body" />
- <child link="upper_body_roll" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.261799" upper="0.261799" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_roll_head_with_neck_joint" type="revolute">
- <origin xyz="-0.0042 0.0362 0.2735" />
- <parent link="upper_body_roll" />
- <child link="head_with_neck" />
- <axis xyz="1 0 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="head_with_neck_head_roll_joint" type="revolute">
- <parent link="head_with_neck" />
- <child link="head_roll" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.261799" upper="0.261799" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_roll_R_shoulder_joint" type="revolute">
- <origin rpy="-5.984687 0.187516 -4.655093" xyz="-0.1501 0.0581 0.2023" />
- <parent link="upper_body_roll" />
- <child link="R_shoulder" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_shoulder_R_shoulder_roll_joint" type="revolute">
- <parent link="R_shoulder" />
- <child link="R_shoulder_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-0.087266" upper="1.48353" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_shoulder_roll_R_arm_joint" type="revolute">
- <origin rpy="-0.279381 0 0" xyz="0 0 -0.1852" />
- <parent link="R_shoulder_roll" />
- <child link="R_arm" />
- <axis xyz="0 0 1" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_arm_R_arm_roll_joint" type="revolute">
- <parent link="R_arm" />
- <child link="R_arm_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-0.872665" upper="0.872665" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_arm_roll_R_wrist_joint" type="revolute">
- <origin xyz="0 0 -0.1395" />
- <parent link="R_arm_roll" />
- <child link="R_wrist" />
- <axis xyz="0 0 1" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_roll_L_Shoulder_joint" type="revolute">
- <origin rpy="-5.984682 6.095667 -1.513497" xyz="0.1501 0.0581 0.2023" />
- <parent link="upper_body_roll" />
- <child link="L_Shoulder" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_Shoulder_L_Shoulder_roll_joint" type="revolute">
- <parent link="L_Shoulder" />
- <child link="L_Shoulder_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-0.087266" upper="1.48353" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_Shoulder_roll_L_arm_joint" type="revolute">
- <origin rpy="-0.261799 0 0" xyz="0 0 -0.1852" />
- <parent link="L_Shoulder_roll" />
- <child link="L_arm" />
- <axis xyz="0 0 1" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_arm_L_arm_roll_joint" type="revolute">
- <parent link="L_arm" />
- <child link="L_arm_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_arm_roll_L_wrist_joint" type="revolute">
- <origin xyz="0 0 -0.1395" />
- <parent link="L_arm_roll" />
- <child link="L_wrist" />
- <axis xyz="0 0 1" />
- <limit lower="-0.872665" upper="0.872665" effort="1000" velocity="1000" />
- </joint>
-</robot>
diff --git a/crowdbotsim/default/robot_description.urdf b/crowdbotsim/default/robot_description.urdf
new file mode 100644
index 0000000..cd82291
--- /dev/null
+++ b/crowdbotsim/default/robot_description.urdf
@@ -0,0 +1,2159 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from pepper_robot.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<!--******************************************************************
+ ****** File automatically generated by generate_urdf.py script ******
+ *********************************************************************-->
+<robot name="JulietteY20MP" xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <joint name="HeadYaw" type="revolute">
+ <parent link="torso"/>
+ <child link="Neck"/>
+ <origin rpy="0 0 0" xyz="-0.038 0 0.3089"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="Neck">
+ <inertial>
+ <mass value="0.27391"/>
+ <inertia ixx="0.000343501" ixy="0" ixz="-1.88563e-05" iyy="0.000493898" iyz="2.09863e-06" izz="0.000215252"/>
+ <origin rpy="0 0 0" xyz="-0.00207 0 -0.02636"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HeadYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- HeadPitch and additional texture links -->
+ <joint name="HeadPitch" type="revolute">
+ <parent link="Neck"/>
+ <child link="Head"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 1.0 0"/>
+ <limit effort="2.666" lower="-0.706858" upper="0.637045" velocity="9.22756"/>
+ </joint>
+ <link name="Head">
+ <inertial>
+ <mass value="1.51893"/>
+ <inertia ixx="0.00597209" ixy="0" ixz="0.000125138" iyy="0.0059054" iyz="4.3428e-07" izz="0.00570374"/>
+ <origin rpy="0 0 0" xyz="0.00312 0 0.11152"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HeadPitch_eyes.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="HeadPitch_milky_joint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadPitch_milky"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="HeadPitch_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HeadPitch_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <joint name="HeadPitch_ears_joint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadPitch_ears"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="HeadPitch_ears">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HeadPitch_ears.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <joint name="HeadPitch_shiny_joint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadPitch_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="HeadPitch_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HeadPitch_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End links for the Head -->
+
+ <joint name="HipRoll" type="revolute">
+ <origin rpy="0 0 0" xyz="-2e-05 0 0.079"/>
+ <child link="torso"/>
+ <parent link="Hip"/>
+ <axis xyz="-1.0 0 0"/>
+ <limit effort="10.1884" lower="-0.514872" upper="0.514872" velocity="2.27032"/>
+ </joint>
+ <link name="Hip">
+ <inertial>
+ <mass value="1.02338"/>
+ <inertia ixx="0.00502422" ixy="0" ixz="-2.54911e-05" iyy="0.00640971" iyz="0.000159449" izz="0.00441082"/>
+ <origin rpy="0 0 0" xyz="0.00032 0 -0.07068"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HipRoll.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.079"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/HipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.079"/>
+ </collision>
+ </link>
+
+ <!-- Create Pelvis link and additional link for texture -->
+ <joint name="HipPitch" type="revolute">
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ <child link="Hip"/>
+ <parent link="Pelvis"/>
+ <axis xyz="0 -1.0 0"/>
+ <limit effort="19.787" lower="-1.03847" upper="1.03847" velocity="2.93276"/>
+ </joint>
+ <link name="Pelvis">
+ <inertial>
+ <mass value="2.45917"/>
+ <inertia ixx="0.034351" ixy="0" ixz="0.000223034" iyy="0.0303122" iyz="-8.37542e-05" izz="0.0143771"/>
+ <origin rpy="0 0 0" xyz="0.00237 0 -0.01754"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HipPitch_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/HipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </collision>
+ </link>
+ <joint name="HipPitch_shiny_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="Pelvis"/>
+ <child link="HipPitch_shiny"/>
+ </joint>
+ <link name="HipPitch_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/HipPitch_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </visual>
+ </link>
+ <!-- End Pelvis link -->
+
+ <!-- KneePitch and additional texture link -->
+ <joint name="KneePitch" type="revolute">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <child link="Pelvis"/>
+ <parent link="Tibia"/>
+ <axis xyz="0 -1.0 0"/>
+ <limit effort="27.702" lower="-0.514872" upper="0.514872" velocity="2.93276"/>
+ </joint>
+ <link name="Tibia">
+ <inertial>
+ <mass value="11.6015"/>
+ <inertia ixx="0.129229" ixy="-0.000401943" ixz="0.00048556" iyy="0.122839" iyz="-1.01666e-08" izz="0.108168"/>
+ <origin rpy="0 0 0" xyz="0.00220451 0 0.082271"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/KneePitch_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/KneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="KneePitch_milky_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="Tibia"/>
+ <child link="KneePitch_milky"/>
+ </joint>
+ <link name="KneePitch_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/KneePitch_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End KneePitch link -->
+
+ <joint name="base_link_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <child link="base_footprint"/>
+ <parent link="base_link"/>
+ </joint>
+ <link name="base_link">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+
+ <joint name="base_footprint_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0.334"/>
+ <child link="Tibia"/>
+ <parent link="base_footprint"/>
+ </joint>
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+
+ <!-- Add the torso link and additional texture links -->
+ <link name="torso">
+ <inertial>
+ <mass value="3.99533"/>
+ <inertia ixx="0.0452761" ixy="0" ixz="0.00499091" iyy="0.0432702" iyz="-0.000266886" izz="0.0258881"/>
+ <origin rpy="0 0 0" xyz="0.00322 0 0.12871"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/Torso_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.139"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/Torso_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.139"/>
+ </collision>
+ </link>
+ <joint name="Torso_shiny_joint" type="fixed">
+ <parent link="torso"/>
+ <child link="Torso_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </joint>
+ <link name="Torso_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/Torso_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </visual>
+ </link>
+ <joint name="Torso_transparent_joint" type="fixed">
+ <parent link="torso"/>
+ <child link="Torso_transparent"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </joint>
+ <link name="Torso_transparent">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/Torso_transparent.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </visual>
+ </link>
+ <!-- End torso links -->
+
+ <joint name="LShoulderPitch" type="revolute">
+ <parent link="torso"/>
+ <child link="LShoulder"/>
+ <origin rpy="0 0 0" xyz="-0.057 0.14974 0.22582"/>
+ <axis xyz="0 1.0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="LShoulder">
+ <inertial>
+ <mass value="0.3125"/>
+ <inertia ixx="0.000361198" ixy="-1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="-5.68878e-06" izz="0.000399194"/>
+ <origin rpy="0 0 0" xyz="0.00018 -0.01856 0.00099"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LShoulderPitch.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- LShoulderRoll and additional texture link -->
+ <joint name="LShoulderRoll" type="revolute">
+ <parent link="LShoulder"/>
+ <child link="LBicep"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="0.00872665" upper="1.56207" velocity="9.22756"/>
+ </joint>
+ <link name="LBicep">
+ <inertial>
+ <mass value="0.50527"/>
+ <inertia ixx="0.000500872" ixy="-3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="9.06813e-06" izz="0.00115718"/>
+ <origin rpy="0 0 0" xyz="0.08151 0.01284 -0.01017"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LShoulderRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LShoulderRoll_shiny_joint" type="fixed">
+ <parent link="LBicep"/>
+ <child link="LShoulderRoll_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="LShoulderRoll_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LShoulderRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End LShoulderRoll -->
+
+ <joint name="LElbowYaw" type="revolute">
+ <parent link="LBicep"/>
+ <child link="LElbow"/>
+ <origin rpy="0 -0.157079 0" xyz="0.1812 0.015 0.00013"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="LElbow">
+ <inertial>
+ <mass value="0.27495"/>
+ <inertia ixx="0.000122971" ixy="9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="-1.98925e-06" izz="0.000303047"/>
+ <origin rpy="0 0 0" xyz="-0.02297 -0.00019 0.00119"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LElbowYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LElbowYaw_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- LElbowRoll link and additional texture -->
+ <joint name="LElbowRoll" type="revolute">
+ <parent link="LElbow"/>
+ <child link="LForeArm"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="-1.56207" upper="-0.00872665" velocity="9.22756"/>
+ </joint>
+ <link name="LForeArm">
+ <inertial>
+ <mass value="0.16579"/>
+ <inertia ixx="0.00156513" ixy="1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="-1.7619e-07" izz="0.000273081"/>
+ <origin rpy="0 0 0" xyz="0.0593 0.00271 -0.01014"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LElbowRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LElbowRoll_milky_joint" type="fixed">
+ <parent link="LForeArm"/>
+ <child link="LElbowRoll_milky"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="LElbowRoll_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LElbowRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End definition of LElbowRoll -->
+
+ <joint name="LWristYaw" type="revolute">
+ <parent link="LForeArm"/>
+ <child link="l_wrist"/>
+ <origin rpy="0 0 0" xyz="0.15 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.2014" lower="-1.82387" upper="1.82387" velocity="17.3835"/>
+ </joint>
+ <link name="l_wrist">
+ <inertial>
+ <mass value="0.27555"/>
+ <inertia ixx="0.000151643" ixy="1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="-3.13715e-06" izz="0.000456172"/>
+ <origin rpy="0 0 0" xyz="0.03536 -0.00072 -0.00207"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LWristYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LWristYaw.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LHand" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="l_gripper"/>
+ <origin rpy="0 0 0" xyz="0.025 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.144" lower="0.02" upper="0.98" velocity="12.56"/>
+ </joint>
+ <link name="l_gripper">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ </inertial>
+ </link>
+ <joint name="RShoulderPitch" type="revolute">
+ <parent link="torso"/>
+ <child link="RShoulder"/>
+ <origin rpy="0 0 0" xyz="-0.057 -0.14974 0.22582"/>
+ <axis xyz="0 1.0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="RShoulder">
+ <inertial>
+ <mass value="0.3125"/>
+ <inertia ixx="0.000361198" ixy="1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="5.68878e-06" izz="0.000399194"/>
+ <origin rpy="0 0 0" xyz="0.00018 0.01856 0.00099"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RShoulderPitch.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- RShoulderRoll and additional texture link -->
+ <joint name="RShoulderRoll" type="revolute">
+ <parent link="RShoulder"/>
+ <child link="RBicep"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="-1.56207" upper="-0.00872665" velocity="9.22756"/>
+ </joint>
+ <link name="RBicep">
+ <inertial>
+ <mass value="0.50527"/>
+ <inertia ixx="0.000500872" ixy="3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="-9.06813e-06" izz="0.00115718"/>
+ <origin rpy="0 0 0" xyz="0.08151 -0.01284 -0.01017"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RShoulderRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RShoulderRoll_shiny_joint" type="fixed">
+ <parent link="RBicep"/>
+ <child link="RShoulderRoll_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="RShoulderRoll_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RShoulderRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End RShoulderRoll -->
+
+ <joint name="RElbowYaw" type="revolute">
+ <parent link="RBicep"/>
+ <child link="RElbow"/>
+ <origin rpy="0 -0.157079 0" xyz="0.1812 -0.015 0.00013"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="RElbow">
+ <inertial>
+ <mass value="0.27495"/>
+ <inertia ixx="0.000122971" ixy="-9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="1.98925e-06" izz="0.000303047"/>
+ <origin rpy="0 0 0" xyz="-0.02297 0.00019 0.00119"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RElbowYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RElbowYaw_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- RElbowRoll link and additional texture link -->
+ <joint name="RElbowRoll" type="revolute">
+ <parent link="RElbow"/>
+ <child link="RForeArm"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="0.00872665" upper="1.56207" velocity="9.22756"/>
+ </joint>
+ <link name="RForeArm">
+ <inertial>
+ <mass value="0.16579"/>
+ <inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081"/>
+ <origin rpy="0 0 0" xyz="0.0593 -0.00271 -0.01014"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RElbowRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RElbowRoll_milky_joint" type="fixed">
+ <parent link="RForeArm"/>
+ <child link="RElbowRoll_milky"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="RElbowRoll_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RElbowRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End RElbowRoll -->
+
+ <joint name="RWristYaw" type="revolute">
+ <parent link="RForeArm"/>
+ <child link="r_wrist"/>
+ <origin rpy="0 0 0" xyz="0.15 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.2014" lower="-1.82387" upper="1.82387" velocity="17.3835"/>
+ </joint>
+ <link name="r_wrist">
+ <inertial>
+ <mass value="0.27555"/>
+ <inertia ixx="0.000151643" ixy="-1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="3.13715e-06" izz="0.000456172"/>
+ <origin rpy="0 0 0" xyz="0.03536 0.00072 -0.00207"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RWristYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RWristYaw.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RHand" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="r_gripper"/>
+ <origin rpy="0 0 0" xyz="0.025 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.144" lower="0.02" upper="0.98" velocity="12.56"/>
+ </joint>
+ <link name="r_gripper">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ </inertial>
+ </link>
+ <link name="SonarBack_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Sonar/Back_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SonarBack_frame"/>
+ <origin rpy="-1.81761e-08 -0.209438 -3.14159" xyz="-0.0718 0 -0.0534"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraBottom_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraBottom_optical_frame_fixedjoint" type="fixed">
+ <parent link="CameraBottom_frame"/>
+ <child link="CameraBottom_optical_frame"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ </joint>
+ <link name="CameraDepth_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraDepth_optical_frame_fixedjoint" type="fixed">
+ <parent link="CameraDepth_frame"/>
+ <child link="CameraDepth_optical_frame"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ </joint>
+ <link name="LHandTouchBack_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
+ <parent link="l_wrist"/>
+ <child link="LHandTouchBack_frame"/>
+ <origin rpy="1.5708 -1.5708 -3.14159" xyz="0.0523 0 0.0304"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="VerticalLeftLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/VerticalLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="VerticalLeftLaser_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingFrontLaser_device_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Front_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingFrontLaser_device_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="BumperB_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Bumper/Back_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="BumperB_frame"/>
+ <origin rpy="0 0 -3.14159" xyz="-0.251 0 -0.264"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingLeftLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Left_projected_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingLeftLaser_frame"/>
+ <origin rpy="0 0 1.75728" xyz="-0.018 0.0899 -0.334"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ShovelLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Shovel_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="ShovelLaser_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ImuTorsoAccelerometer_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Accelerometer_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="ImuTorsoAccelerometer_frame"/>
+ <origin rpy="0 0 0" xyz="0.00239 -0.03575 0.14526"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="RSpeaker_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="SpeakerRight_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="RSpeaker_frame"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingRightLaser_device_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Right_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingRightLaser_device_frame"/>
+ <origin rpy="0 0.349066 -1.5708" xyz="-0.018 -0.0899 -0.0759"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="LSpeaker_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="SpeakerLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="LSpeaker_frame"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="RHandTouchBack_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
+ <parent link="r_wrist"/>
+ <child link="RHandTouchBack_frame"/>
+ <origin rpy="1.5708 -1.5708 -3.14159" xyz="0.0523 0 0.0304"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraTop_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraTop_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="CameraTop_frame"/>
+ <origin rpy="0 0 0" xyz="0.08601 0 0.16284"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingLeftLaser_device_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Left_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingLeftLaser_device_frame"/>
+ <origin rpy="0 0.349066 1.5708" xyz="-0.018 0.0899 -0.0759"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraDepth_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraDepth_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="CameraDepth_frame"/>
+ <origin rpy="0 0 0" xyz="0.05138 0.039 0.1194"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingRightLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Right_projected_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingRightLaser_frame"/>
+ <origin rpy="0 0 -1.75728" xyz="-0.018 -0.0899 -0.334"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="HeadTouchFront_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Head/Touch/Front_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadTouchFront_frame"/>
+ <origin rpy="0 0.20944 0" xyz="0.028175 0 0.21267"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="VerticalRightLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/VerticalRight_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="VerticalRightLaser_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SonarFront_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Sonar/Front_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SonarFront_frame"/>
+ <origin rpy="0 -0.322858 0" xyz="0.0699 0 -0.1023"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="BumperFL_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Bumper/FrontLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="BumperFL_frame"/>
+ <origin rpy="0 0 0.48886" xyz="0.129 0.227 -0.264"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraBottom_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraBottom_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="CameraBottom_frame"/>
+ <origin rpy="0 0.698132 0" xyz="0.09262 0 0.06177"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraTop_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
+ <parent link="CameraTop_frame"/>
+ <child link="CameraTop_optical_frame"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ </joint>
+ <link name="ImuBaseAccelerometer_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="AccelerometerBase_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="ImuBaseAccelerometer_frame"/>
+ <origin rpy="0 0 0" xyz="0.0147 -0.0017 -0.26319"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ImuTorsoGyrometer_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Gyrometer_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="ImuTorsoGyrometer_frame"/>
+ <origin rpy="0 0 0" xyz="0.00204 -0.03491 0.12941"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="Tablet_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Tablet_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="Tablet_frame"/>
+ <origin rpy="0 -0.523599 0" xyz="0.0839249 0 0.20151"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="HeadTouchRear_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Head/Touch/Rear_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadTouchRear_frame"/>
+ <origin rpy="0 -0.314159 0" xyz="-0.03376 0 0.21052"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="BumperFR_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Bumper/FrontRight_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="BumperFR_frame"/>
+ <origin rpy="0 0 -0.48886" xyz="0.129 -0.227 -0.264"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingFrontLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Front_projected_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingFrontLaser_frame"/>
+ <origin rpy="0 0 0" xyz="0.0562 0 -0.334"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ChestButton_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="ChestButton_frame"/>
+ <origin rpy="0 0 0" xyz="0.049871 0.001588 0.194163"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="HeadTouchMiddle_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Head/Touch/Middle_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadTouchMiddle_frame"/>
+ <origin rpy="0 -0.0349066 0" xyz="0.0041 0 0.2159"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="RFinger41_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger41.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger41.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger41" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger41_link"/>
+ <origin rpy="1.74402 1.04064 -0.0683394" xyz="0.074 -0.0309 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger42_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger42.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger42.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger42" type="revolute">
+ <parent link="LFinger41_link"/>
+ <child link="LFinger42_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger12_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger12.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger12.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger12" type="revolute">
+ <parent link="RFinger11_link"/>
+ <child link="RFinger12_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger33_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger33.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger33.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger33" type="revolute">
+ <parent link="LFinger32_link"/>
+ <child link="LFinger33_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger31_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger31.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger31.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger31" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger31_link"/>
+ <origin rpy="1.67523 1.04483 0.029316" xyz="0.0833 -0.0123 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger21_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger21.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger21.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger21" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger21_link"/>
+ <origin rpy="1.5708 1.0472 -0.061086" xyz="0.0873 -0.0073 0.006"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger32_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger32.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger32.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger32" type="revolute">
+ <parent link="RFinger31_link"/>
+ <child link="RFinger32_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger13_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger13.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger13.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger13" type="revolute">
+ <parent link="LFinger12_link"/>
+ <child link="LFinger13_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger32_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger32.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger32.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger32" type="revolute">
+ <parent link="LFinger31_link"/>
+ <child link="LFinger32_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger11_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger11.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger11.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger11" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger11_link"/>
+ <origin rpy="1.74402 1.04064 -0.0334335" xyz="0.0821 -0.0268 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger22_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger22.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger22.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger22" type="revolute">
+ <parent link="RFinger21_link"/>
+ <child link="RFinger22_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger13_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger13.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger13.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger13" type="revolute">
+ <parent link="RFinger12_link"/>
+ <child link="RFinger13_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger22_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger22.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger22.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger22" type="revolute">
+ <parent link="LFinger21_link"/>
+ <child link="LFinger22_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger21_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger21.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger21.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger21" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger21_link"/>
+ <origin rpy="1.5708 1.0472 0.061086" xyz="0.0873 0.0073 0.006"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger41_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger41.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger41.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger41" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger41_link"/>
+ <origin rpy="1.39757 1.04064 0.0683394" xyz="0.074 0.0309 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger12_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger12.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger12.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger12" type="revolute">
+ <parent link="LFinger11_link"/>
+ <child link="LFinger12_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger23_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger23.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger23.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger23" type="revolute">
+ <parent link="RFinger22_link"/>
+ <child link="RFinger23_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger11_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger11.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger11.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger11" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger11_link"/>
+ <origin rpy="1.39757 1.04064 0.0334335" xyz="0.0821 0.0268 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger23_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger23.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger23.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger23" type="revolute">
+ <parent link="LFinger22_link"/>
+ <child link="LFinger23_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger43_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger43.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger43.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger43" type="revolute">
+ <parent link="LFinger42_link"/>
+ <child link="LFinger43_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger43_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger43.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger43.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger43" type="revolute">
+ <parent link="RFinger42_link"/>
+ <child link="RFinger43_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger42_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger42.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger42.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger42" type="revolute">
+ <parent link="RFinger41_link"/>
+ <child link="RFinger42_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger31_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LFinger31.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LFinger31.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger31" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger31_link"/>
+ <origin rpy="1.46636 1.04483 -0.029314" xyz="0.0833 0.0123 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger33_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RFinger33.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RFinger33.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger33" type="revolute">
+ <parent link="RFinger32_link"/>
+ <child link="RFinger33_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LThumb1_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LThumb1.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LThumb1.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LThumb1" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LThumb1_link"/>
+ <!-- <origin rpy="-1.95836 0.60626 0.533978" xyz="0.0482 -0.0357 -0.0199"/> -->
+ <origin rpy="-2.55836 0.80626 0.533978" xyz="0.0482 -0.0357 -0.0199"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RThumb2_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RThumb2.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RThumb2.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RThumb2" type="revolute">
+ <parent link="RThumb1_link"/>
+ <child link="RThumb2_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.022 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RThumb1_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/RThumb1.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/RThumb1.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RThumb1" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RThumb1_link"/>
+ <!-- <origin rpy="-1.18323 0.60626 -0.533978" xyz="0.0482 0.0357 -0.0199"/> -->
+ <origin rpy="-0.58323 0.80626 -0.533978" xyz="0.0482 0.0357 -0.0199"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LThumb2_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/LThumb2.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/LThumb2.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LThumb2" type="revolute">
+ <parent link="LThumb1_link"/>
+ <child link="LThumb2_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.022 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="WheelFL_link">
+ <inertial>
+ <mass value="1.58028"/>
+ <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/WheelFL.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/WheelFL_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="WheelFL" type="continuous">
+ <parent link="Tibia"/>
+ <child link="WheelFL_link"/>
+ <origin rpy="0 0 1.07517" xyz="0.09 0.155 -0.264"/>
+ <axis xyz="1.0 0.0 0.0"/>
+ <limit effort="3.25" lower="0" upper="0" velocity="6.28319"/>
+ </joint>
+ <link name="WheelB_link">
+ <inertial>
+ <mass value="1.58028"/>
+ <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/WheelB.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/WheelB_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="WheelB" type="continuous">
+ <parent link="Tibia"/>
+ <child link="WheelB_link"/>
+ <origin rpy="0 0 -3.14159" xyz="-0.17 0 -0.264"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="3.25" lower="0" upper="0" velocity="6.28319"/>
+ </joint>
+ <link name="WheelFR_link">
+ <inertial>
+ <mass value="1.58028"/>
+ <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="meshes/WheelFR.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="meshes/WheelFR_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="WheelFR" type="continuous">
+ <parent link="Tibia"/>
+ <child link="WheelFR_link"/>
+ <origin rpy="0 0 -1.07517" xyz="0.09 -0.155 -0.264"/>
+ <axis xyz="1.0 0.0 0.0"/>
+ <limit effort="3.25" lower="0" upper="0" velocity="6.28319"/>
+ </joint>
+
+ <!-- HEAD -->
+ <transmission name="HeadYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HeadYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HeadYaw_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="HeadPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HeadPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HeadPitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LShoulderPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LShoulderPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LShoulderPitch_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LShoulderRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LShoulderRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LShoulderRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LElbowYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LElbowYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LElbowYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LElbowRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LElbowRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LElbowRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LWristYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LWristYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LWristYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LHand_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LHand">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LHand_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>36.24</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RShoulderPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RShoulderPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RShoulderPitch_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RShoulderRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RShoulderRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RShoulderRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RElbowYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RElbowYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RElbowYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RElbowRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RElbowRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RElbowRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RWristYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RWristYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RWristYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RHand_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RHand">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RHand_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>36.24</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- LEGS -->
+ <transmission name="HipRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HipRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HipRoll_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="HipPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HipPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HipPitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="KneePitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="KneePitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="KneePitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="WheelFL_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelFL">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelFL_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="WheelB_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelB">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelB_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="WheelFR_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelFR">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelFR_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+</robot>
diff --git a/crowdbotsim/launch/.rviz_urdf_show.launch.swp b/crowdbotsim/launch/.rviz_urdf_show.launch.swp
deleted file mode 100644
index 49026f408e278fc9ca80ca099130383d4eac9c0e..0000000000000000000000000000000000000000
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diff --git a/crowdbotsim/launch/joint_state_publisher.launch b/crowdbotsim/launch/joint_state_publisher.launch
new file mode 100644
index 0000000..a3be7a5
--- /dev/null
+++ b/crowdbotsim/launch/joint_state_publisher.launch
@@ -0,0 +1,6 @@
+<launch>
+ <arg name="gui" default="true" />
+ <param name="use_gui" value="$(arg gui)"/>
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+ <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" />
+</launch>
\ No newline at end of file
diff --git a/crowdbotsim/launch/unity_sim.launch b/crowdbotsim/launch/unity_sim.launch
index 2182c9b..bf89894 100755
--- a/crowdbotsim/launch/unity_sim.launch
+++ b/crowdbotsim/launch/unity_sim.launch
@@ -20,6 +20,4 @@ limitations under the License.
<param name="port" value="9090"/>
</include>
- <node name="file_server" pkg="file_server" type="file_server" output="screen"/>
-
</launch>
diff --git a/crowdbotsim/launch/upload_robot_description.launch b/crowdbotsim/launch/upload_robot_description.launch
new file mode 100644
index 0000000..2ce1cd4
--- /dev/null
+++ b/crowdbotsim/launch/upload_robot_description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+ <arg name="model" default="$(find crowdbotsim)/pepper.urdf"/>
+ <param name="robot_description" textfile="$(arg model)" />
+ <node name="file_server" pkg="file_server" type="file_server" output="screen"/>
+</launch>
diff --git a/crowdbotsim/meshes/HeadPitch.dae b/crowdbotsim/meshes/HeadPitch.dae
new file mode 100644
index 0000000..5a572c3
--- /dev/null
+++ b/crowdbotsim/meshes/HeadPitch.dae
@@ -0,0 +1,289 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images>
+ <image id="juliette_eyes_png" name="juliette_eyes_png">
+ <init_from>./juliette_eyes.png</init_from>
+ </image>
+ <image id="juliette_ear_png" name="juliette_ear_png">
+ <init_from>./juliette_ear.png</init_from>
+ </image>
+ <image id="juliette_face_png" name="juliette_face_png">
+ <init_from>./juliette_face.png</init_from>
+ </image>
+ <image id="juliette_head_png" name="juliette_head_png">
+ <init_from>./juliette_head.png</init_from>
+ </image>
+ </library_images>
+ <library_effects>
+ <effect id="face_tex-effect">
+ <profile_COMMON>
+ <newparam sid="juliette_eyes_png-surface">
+ <surface type="2D">
+ <init_from>juliette_eyes_png</init_from>
+ </surface>
+ </newparam>
+ <newparam sid="juliette_eyes_png-sampler">
+ <sampler2D>
+ <source>juliette_eyes_png-surface</source>
+ </sampler2D>
+ </newparam>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <texture texcoord="UVTex" texture="juliette_eyes_png-sampler"/>
+ </diffuse>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <newparam sid="juliette_face_png-surface">
+ <surface type="2D">
+ <init_from>juliette_face_png</init_from>
+ </surface>
+ </newparam>
+ <newparam sid="juliette_face_png-sampler">
+ <sampler2D>
+ <source>juliette_face_png-surface</source>
+ </sampler2D>
+ </newparam>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="HeadPitch" name="HeadPitch" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_OEIL_GA_JULI-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="face_tex-material" target="#face_tex-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="ear_tex-material" target="#ear_tex-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/HeadPitch.mtl b/crowdbotsim/meshes/HeadPitch.mtl
new file mode 100644
index 0000000..a34fe33
--- /dev/null
+++ b/crowdbotsim/meshes/HeadPitch.mtl
@@ -0,0 +1,39 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl ear_tex
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+map_Kd ./juliette_ear.png
+
+newmtl face_tex
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 1 1 1
+d 0.9
+Ns 10
+illum 2
+map_Kd ./juliette_eyes.png
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+map_Kd ./juliette_face.png
+
+newmtl shiny_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+map_Kd ./juliette_face.png
diff --git a/crowdbotsim/meshes/HeadPitch_0.10.stl b/crowdbotsim/meshes/HeadPitch_0.10.stl
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diff --git a/crowdbotsim/meshes/HeadPitch_ears.obj b/crowdbotsim/meshes/HeadPitch_ears.obj
new file mode 100644
index 0000000..3158602
--- /dev/null
+++ b/crowdbotsim/meshes/HeadPitch_ears.obj
@@ -0,0 +1,198 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib HeadPitch.mtl
+#object HeadPitch_JULIETTE_OEIL_GA
+
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diff --git a/crowdbotsim/meshes/HeadPitch_eyes.obj b/crowdbotsim/meshes/HeadPitch_eyes.obj
new file mode 100644
index 0000000..7fe3818
--- /dev/null
+++ b/crowdbotsim/meshes/HeadPitch_eyes.obj
@@ -0,0 +1,201 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib HeadPitch.mtl
+#object HeadPitch_JULIETTE_OEIL_GA
+
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diff --git a/crowdbotsim/meshes/HeadPitch_milky.obj b/crowdbotsim/meshes/HeadPitch_milky.obj
new file mode 100644
index 0000000..3563552
--- /dev/null
+++ b/crowdbotsim/meshes/HeadPitch_milky.obj
@@ -0,0 +1,944 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib HeadPitch.mtl
+#object HeadPitch_JULIETTE_OEIL_GA
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diff --git a/crowdbotsim/meshes/HeadPitch_shiny.obj b/crowdbotsim/meshes/HeadPitch_shiny.obj
new file mode 100644
index 0000000..22cb542
--- /dev/null
+++ b/crowdbotsim/meshes/HeadPitch_shiny.obj
@@ -0,0 +1,3414 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib HeadPitch.mtl
+#object HeadPitch_JULIETTE_OEIL_GA
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diff --git a/crowdbotsim/meshes/HeadYaw.dae b/crowdbotsim/meshes/HeadYaw.dae
new file mode 100644
index 0000000..6a5b06e
--- /dev/null
+++ b/crowdbotsim/meshes/HeadYaw.dae
@@ -0,0 +1,120 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_TETE_GROUPE_-mesh" name="JULIETTE_TETE GROUPE_">
+ <mesh>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="HeadYaw" name="HeadYaw" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_TETE_GROUPE_-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/HeadYaw.mtl b/crowdbotsim/meshes/HeadYaw.mtl
new file mode 100644
index 0000000..d11600b
--- /dev/null
+++ b/crowdbotsim/meshes/HeadYaw.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/HeadYaw.obj b/crowdbotsim/meshes/HeadYaw.obj
new file mode 100644
index 0000000..5767c68
--- /dev/null
+++ b/crowdbotsim/meshes/HeadYaw.obj
@@ -0,0 +1,2399 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib HeadYaw.mtl
+
+# 423 vertex positions
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+
+# Mesh 'HeadYaw_JULIETTE_TETE GROUPE_' with 2 faces
+g HeadYaw_JULIETTE_TETE GROUPE_
+usemtl shiny_white
+l 1/1 1/1
+l 2/1 2/1
+
+# Mesh 'HeadYaw_JULIETTE_TETE GROUPE_' with 842 faces
+g HeadYaw_JULIETTE_TETE GROUPE_
+usemtl shiny_white
+f 3/2/2 4/3/3 5/4/4
+f 6/5/5 7/6/6 8/7/7
+f 9/8/8 10/9/9 11/10/10
+f 12/11/11 13/12/12 14/13/13
+f 15/14/14 12/11/11 14/15/13
+f 16/16/15 17/17/16 18/18/17
+f 19/19/18 16/16/15 18/20/17
+f 13/12/12 12/11/11 20/21/19
+f 13/12/12 21/22/20 14/23/13
+f 22/24/21 15/14/14 14/25/13
+f 15/14/14 23/26/22 20/21/19
+f 24/27/23 25/28/24 17/17/16
+f 17/17/16 26/29/25 18/30/17
+f 27/31/26 19/19/18 18/32/17
+f 24/27/23 16/16/15 19/19/18
+f 20/21/19 28/33/27 29/34/28
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+f 21/22/20 32/37/31 14/38/13
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+f 26/29/25 38/45/37 18/46/17
+f 39/47/38 27/31/26 18/48/17
+f 40/49/39 41/50/40 19/19/18
+f 42/51/41 43/52/42 24/27/23
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diff --git a/crowdbotsim/meshes/HeadYaw_0.10.stl b/crowdbotsim/meshes/HeadYaw_0.10.stl
index a76e7f1e9d185c2044ddf10d483928faecf04723..1d3ade37044f4be00c47c96269b4b6fa557fa7b0 100644
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diff --git a/crowdbotsim/meshes/HipPitch.dae b/crowdbotsim/meshes/HipPitch.dae
new file mode 100644
index 0000000..dc8af7e
--- /dev/null
+++ b/crowdbotsim/meshes/HipPitch.dae
@@ -0,0 +1,155 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_CUISSES_GROU-mesh" name="JULIETTE_CUISSES GROU">
+ <mesh>
+ <source id="JULIETTE_CUISSES_GROU-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="HipPitch" name="HipPitch" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_CUISSES_GROU-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/HipPitch.mtl b/crowdbotsim/meshes/HipPitch.mtl
new file mode 100644
index 0000000..e62bbef
--- /dev/null
+++ b/crowdbotsim/meshes/HipPitch.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/HipPitch_0.10.stl b/crowdbotsim/meshes/HipPitch_0.10.stl
index d2a962e3880c56e5be840cc83dd1660d6270a06e..e641286e8f4f78812b37296c206cf4dbf03c7236 100644
GIT binary patch
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diff --git a/crowdbotsim/meshes/HipPitch_milky.obj b/crowdbotsim/meshes/HipPitch_milky.obj
new file mode 100644
index 0000000..f904ed3
--- /dev/null
+++ b/crowdbotsim/meshes/HipPitch_milky.obj
@@ -0,0 +1,1892 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib HipPitch.mtl
+#object HipPitch_JULIETTE_CUISSES
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diff --git a/crowdbotsim/meshes/HipPitch_shiny.obj b/crowdbotsim/meshes/HipPitch_shiny.obj
new file mode 100644
index 0000000..9c16dcf
--- /dev/null
+++ b/crowdbotsim/meshes/HipPitch_shiny.obj
@@ -0,0 +1,2799 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib HipPitch.mtl
+#object HipPitch_JULIETTE_CUISSES
+
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diff --git a/crowdbotsim/meshes/HipRoll.dae b/crowdbotsim/meshes/HipRoll.dae
new file mode 100644
index 0000000..4fc177b
--- /dev/null
+++ b/crowdbotsim/meshes/HipRoll.dae
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="GROUPE_01_JULIETT_000-mesh" name="GROUPE_01 JULIETT.000">
+ <mesh>
+ <source id="GROUPE_01_JULIETT_000-mesh-positions">
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223 220 1415 198 195 1416 200 198 1417 224 221 1418 227 224 1419 194 191 1420 226 223 1421 90 89 1422 55 54 1423 227 224 1424 211 209 1425 91 90 1426 228 226 1427 93 225 1428 95 93 1429 228 226 1430 95 93 1431 97 95 1432 229 227 1433 97 95 1434 99 97 1435 230 228 1436 231 229 1437 99 97 1438 232 230 1439 232 230 1440 101 99 1441 233 231 1442 233 231 1443 103 101 1444 234 233 1445 105 232 1446 90 89 1447 234 233 1448 211 209 1449 228 226 1450 212 210 1451 235 234 1452 228 226 1453 236 235 1454 236 235 1455 229 227 1456 237 236 1457 230 228 1458 231 229 1459 237 236 1460 238 237 1461 231 229 1462 239 238 1463 232 230 1464 233 231 1465 239 238 1466 233 231 1467 234 233 1468 240 239 1469 241 240 1470 234 233 1471 226 223 1472 213 211 1473 212 210 1474 242 241 1475 235 234 1476 236 235 1477 242 241 1478 243 242 1479 236 235 1480 244 243 1481 237 236 1482 238 237 1483 244 243 1484 245 244 1485 238 237 1486 246 245 1487 239 238 1488 240 239 1489 246 245 1490 247 246 1491 240 239 1492 248 247 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1647 290 291 1648 285 283 1649</p>
+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="HipRoll" name="HipRoll" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#GROUPE_01_JULIETT_000-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/HipRoll.mtl b/crowdbotsim/meshes/HipRoll.mtl
new file mode 100644
index 0000000..d11600b
--- /dev/null
+++ b/crowdbotsim/meshes/HipRoll.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/HipRoll.obj b/crowdbotsim/meshes/HipRoll.obj
new file mode 100644
index 0000000..eaa9ae0
--- /dev/null
+++ b/crowdbotsim/meshes/HipRoll.obj
@@ -0,0 +1,1252 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib HipRoll.mtl
+
+# 294 vertex positions
+v 0.80317 0.13091 -0.784811
+v 0.76383 0.13091 -0.539555
+v 0.773359 4.7662e-07 -0.536498
+v 0.649661 0.13091 -0.318309
+v 0.657767 3.28718e-07 -0.312494
+v -0.659 -1.35611e-06 -0.312494
+v -0.650895 0.130908 -0.318309
+v -0.765064 0.130908 -0.539555
+v -0.797728 0.130908 -0.743189
+v -0.807664 -1.54632e-06 -0.742672
+v 0.773359 0.258596 -0.784811
+v 0.735478 0.258596 -0.548651
+v 0.625543 0.258596 -0.335604
+v -0.626777 0.258594 -0.335604
+v -0.736712 0.258594 -0.548651
+v -0.768165 0.258594 -0.744735
+v 0.724489 0.379915 -0.784811
+v 0.689001 0.379915 -0.563566
+v 0.586007 0.379915 -0.363974
+v -0.587241 0.379913 -0.363974
+v -0.690235 0.379913 -0.563566
+v -0.719701 0.379913 -0.747263
+v 0.69425 0.430657 -0.784811
+v 0.660241 0.430657 -0.572789
+v 0.561542 0.430657 -0.381525
+v -0.562777 0.430656 -0.381525
+v -0.661476 0.430655 -0.572789
+v -0.689713 0.430655 -0.748829
+v 0.81319 5.27584e-07 -0.784811
+v 0.816937 5.32379e-07 -0.898123
+v 0.807148 0.13091 -0.896687
+v 0.778022 0.258596 -0.892415
+v 0.730276 0.379915 -0.885412
+v 0.700732 0.430657 -0.881078
+v 0.76804 4.69814e-07 -1.16403
+v 0.760497 0.123113 -1.16858
+v 0.741894 0.266852 -1.16564
+v 0.719348 0.368075 -1.16337
+v 0.693179 0.45162 -1.16238
+v -0.771497 0.138918 -1.01157
+v -0.776001 -1.54913e-06 -1.00858
+v -0.750152 0.285061 -1.01358
+v -0.718388 0.404591 -1.01307
+v -0.696391 0.466503 -1.01301
+v 0.411643 3.12036e-07 -1.41196
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diff --git a/crowdbotsim/meshes/HipRoll_0.10.stl b/crowdbotsim/meshes/HipRoll_0.10.stl
index 922258a345bee490cb54bd2c1c540e75d4faf628..6130657d9556ed13bd0ddf4cbb3c46679791cfaf 100644
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diff --git a/crowdbotsim/meshes/KneePitch.dae b/crowdbotsim/meshes/KneePitch.dae
new file mode 100644
index 0000000..0005a64
--- /dev/null
+++ b/crowdbotsim/meshes/KneePitch.dae
@@ -0,0 +1,155 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
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+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
+ <diffuse>
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+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ <effect id="milky_white-effect">
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+ </emission>
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+ </ambient>
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+ </diffuse>
+ <index_of_refraction>
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+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
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+ </material>
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+ </material>
+ </library_materials>
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+ </polylist>
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+ <input offset="1" semantic="NORMAL" source="#GROUPE_01_JULIETTE_LO-mesh-normals"/>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="KneePitch" name="KneePitch" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#GROUPE_01_JULIETTE_LO-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/KneePitch.mtl b/crowdbotsim/meshes/KneePitch.mtl
new file mode 100644
index 0000000..e62bbef
--- /dev/null
+++ b/crowdbotsim/meshes/KneePitch.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/KneePitch_0.10.stl b/crowdbotsim/meshes/KneePitch_0.10.stl
index 85e836f98d17ab3d67f10d80a276d7eb3084a695..d39713c7e296e311761b5df0db05700de181d8a8 100644
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diff --git a/crowdbotsim/meshes/KneePitch_milky.obj b/crowdbotsim/meshes/KneePitch_milky.obj
new file mode 100644
index 0000000..97d51c5
--- /dev/null
+++ b/crowdbotsim/meshes/KneePitch_milky.obj
@@ -0,0 +1,812 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib KneePitch.mtl
+#object KneePitch_GROUPE_01
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diff --git a/crowdbotsim/meshes/KneePitch_shiny.obj b/crowdbotsim/meshes/KneePitch_shiny.obj
new file mode 100644
index 0000000..a0d0aca
--- /dev/null
+++ b/crowdbotsim/meshes/KneePitch_shiny.obj
@@ -0,0 +1,3313 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib KneePitch.mtl
+#object KneePitch_GROUPE_01
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diff --git a/crowdbotsim/meshes/LElbowRoll.dae b/crowdbotsim/meshes/LElbowRoll.dae
new file mode 100644
index 0000000..1328943
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowRoll.dae
@@ -0,0 +1,143 @@
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+ </polylist>
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+ <input offset="0" semantic="VERTEX" source="#JULIETTE_AV_BRAS__069-mesh-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#JULIETTE_AV_BRAS__069-mesh-normals"/>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LElbowRoll" name="LElbowRoll" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__069-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LElbowRoll.mtl b/crowdbotsim/meshes/LElbowRoll.mtl
new file mode 100644
index 0000000..e62bbef
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowRoll.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
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diff --git a/crowdbotsim/meshes/LElbowRoll_milky.obj b/crowdbotsim/meshes/LElbowRoll_milky.obj
new file mode 100644
index 0000000..9f67fa6
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowRoll_milky.obj
@@ -0,0 +1,657 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib LElbowRoll.mtl
+#object LElbowRoll_JULIETTE_AV_BRAS_.069
+
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diff --git a/crowdbotsim/meshes/LElbowRoll_shiny.obj b/crowdbotsim/meshes/LElbowRoll_shiny.obj
new file mode 100644
index 0000000..3b1a591
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowRoll_shiny.obj
@@ -0,0 +1,453 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib LElbowRoll.mtl
+#object LElbowRoll_JULIETTE_AV_BRAS_.069
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diff --git a/crowdbotsim/meshes/LElbowYaw.dae b/crowdbotsim/meshes/LElbowYaw.dae
new file mode 100644
index 0000000..a8997bb
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowYaw.dae
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
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+ </emission>
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+ </ambient>
+ <diffuse>
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+ </diffuse>
+ <specular>
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+ </specular>
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+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
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+ <input semantic="POSITION" source="#JULIETTE_AV_BRAS__026-mesh-positions"/>
+ </vertices>
+ <polylist count="440" material="shiny_white-material">
+ <input offset="0" semantic="VERTEX" source="#JULIETTE_AV_BRAS__026-mesh-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#JULIETTE_AV_BRAS__026-mesh-normals"/>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LElbowYaw" name="LElbowYaw" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__026-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LElbowYaw.mtl b/crowdbotsim/meshes/LElbowYaw.mtl
new file mode 100644
index 0000000..d11600b
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowYaw.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/LElbowYaw.obj b/crowdbotsim/meshes/LElbowYaw.obj
new file mode 100644
index 0000000..fce8d46
--- /dev/null
+++ b/crowdbotsim/meshes/LElbowYaw.obj
@@ -0,0 +1,1169 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LElbowYaw.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger11.dae b/crowdbotsim/meshes/LFinger11.dae
new file mode 100644
index 0000000..df45ee2
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger11.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
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+ <technique sid="common">
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+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
+ <diffuse>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger11" name="LFinger11" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__075-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger11.mtl b/crowdbotsim/meshes/LFinger11.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger11.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger11.obj b/crowdbotsim/meshes/LFinger11.obj
new file mode 100644
index 0000000..05fe1b4
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger11.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger11.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger12.dae b/crowdbotsim/meshes/LFinger12.dae
new file mode 100644
index 0000000..46811ba
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger12.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
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+ <technique sid="common">
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+ <emission>
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+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
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+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger12" name="LFinger12" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__076-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger12.mtl b/crowdbotsim/meshes/LFinger12.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger12.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger12.obj b/crowdbotsim/meshes/LFinger12.obj
new file mode 100644
index 0000000..e8b2a7c
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger12.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger12.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger13.dae b/crowdbotsim/meshes/LFinger13.dae
new file mode 100644
index 0000000..fecb0d7
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger13.dae
@@ -0,0 +1,114 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__010-mesh" name="JULIETTE_AV_BRAS_.010">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__010-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger13" name="LFinger13" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__010-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger13.mtl b/crowdbotsim/meshes/LFinger13.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger13.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger13.obj b/crowdbotsim/meshes/LFinger13.obj
new file mode 100644
index 0000000..8275308
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger13.obj
@@ -0,0 +1,1079 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger13.mtl
+
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+vn -0.00294748 -0.00300302 0.00907132
+vn -0.00309 0 0.00951048
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+vn -0.00253121 0.00573504 0.00779107
+vn -0.00187689 0.00794366 0.00577685
+vn -0.00104038 0.00941588 0.00320231
+vn -0.00272378 0.00941588 0.00197912
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+vn -0.0066274 0.00573504 0.0048149
+vn -0.0077166 0.00300302 0.00560625
+vn -0.00809015 0 0.00587756
+vn -0.0077166 -0.00300302 0.00560625
+vn -0.0066274 -0.00573504 0.0048149
+vn -0.00491409 -0.00794366 0.00357005
+vn -0.00272378 -0.00941588 0.00197912
+
+# Mesh 'LFinger13_JULIETTE_AV_BRAS_.010' with 1 faces
+g LFinger13_JULIETTE_AV_BRAS_.010
+usemtl milky_white
+l 1/1 2/1
+
+# Mesh 'LFinger13_JULIETTE_AV_BRAS_.010' with 444 faces
+g LFinger13_JULIETTE_AV_BRAS_.010
+usemtl milky_white
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+f 9/8/8 10/9/9 11/10/10
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+f 15/16/14 16/17/15 17/18/16
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+f 21/22/20 8/7/7 22/23/21
+f 23/24/22 22/25/21 8/26/7
+f 5/4/4 4/3/3 24/27/23
+f 25/28/24 26/29/25 27/30/26
+f 28/31/27 10/9/9 9/8/8
+f 10/14/9 28/32/27 29/33/28
+f 13/34/12 14/15/13 4/3/3
+f 30/35/29 31/36/30 13/12/12
+f 16/17/15 32/37/31 33/38/32
+f 17/18/16 33/38/32 34/39/33
+f 35/40/34 36/41/35 37/42/36
+f 20/21/19 38/43/37 39/44/38
+f 19/20/18 40/45/39 38/46/37
+f 14/15/13 41/47/40 24/27/23
+f 42/48/41 43/49/42 44/50/43
+f 45/51/44 25/28/24 46/52/45
+f 26/29/25 25/28/24 47/53/46
+f 48/54/47 28/31/27 49/55/48
+f 50/56/49 29/33/28 28/32/27
+f 51/57/50 52/58/51 43/49/42
+f 29/33/28 50/56/49 53/59/52
+f 47/53/46 25/28/24 45/51/44
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+f 39/44/38 38/43/37 7/6/6
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diff --git a/crowdbotsim/meshes/LFinger21.dae b/crowdbotsim/meshes/LFinger21.dae
new file mode 100644
index 0000000..fcfef86
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger21.dae
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+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
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+ <modified>2015-04-16T14:37:17</modified>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
+ <library_materials>
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+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
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+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger21" name="LFinger21" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__077-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger21.mtl b/crowdbotsim/meshes/LFinger21.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger21.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger21.obj b/crowdbotsim/meshes/LFinger21.obj
new file mode 100644
index 0000000..03b84be
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger21.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger21.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger22.dae b/crowdbotsim/meshes/LFinger22.dae
new file mode 100644
index 0000000..d32017a
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger22.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger22" name="LFinger22" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__078-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger22.mtl b/crowdbotsim/meshes/LFinger22.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger22.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger22.obj b/crowdbotsim/meshes/LFinger22.obj
new file mode 100644
index 0000000..89943dd
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger22.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger22.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger23.dae b/crowdbotsim/meshes/LFinger23.dae
new file mode 100644
index 0000000..d504d2f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger23.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__079-mesh" name="JULIETTE_AV_BRAS_.079">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__079-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger23" name="LFinger23" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__079-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger23.mtl b/crowdbotsim/meshes/LFinger23.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger23.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger23.obj b/crowdbotsim/meshes/LFinger23.obj
new file mode 100644
index 0000000..b0cfcd7
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger23.obj
@@ -0,0 +1,1072 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger23.mtl
+
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+# Mesh 'LFinger23_JULIETTE_AV_BRAS_.079' with 444 faces
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diff --git a/crowdbotsim/meshes/LFinger31.dae b/crowdbotsim/meshes/LFinger31.dae
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+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
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+ <modified>2015-04-16T14:37:17</modified>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
+ <library_materials>
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+ </material>
+ </library_materials>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger31" name="LFinger31" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__080-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger31.mtl b/crowdbotsim/meshes/LFinger31.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger31.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger31.obj b/crowdbotsim/meshes/LFinger31.obj
new file mode 100644
index 0000000..d236925
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger31.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger31.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger32.dae b/crowdbotsim/meshes/LFinger32.dae
new file mode 100644
index 0000000..ac2bac2
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger32.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger32" name="LFinger32" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__081-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger32.mtl b/crowdbotsim/meshes/LFinger32.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger32.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger32.obj b/crowdbotsim/meshes/LFinger32.obj
new file mode 100644
index 0000000..2052f20
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger32.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger32.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger33.dae b/crowdbotsim/meshes/LFinger33.dae
new file mode 100644
index 0000000..95ccfe7
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger33.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__082-mesh" name="JULIETTE_AV_BRAS_.082">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__082-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger33" name="LFinger33" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__082-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger33.mtl b/crowdbotsim/meshes/LFinger33.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger33.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger33.obj b/crowdbotsim/meshes/LFinger33.obj
new file mode 100644
index 0000000..8952cce
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger33.obj
@@ -0,0 +1,1072 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger33.mtl
+
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+# Mesh 'LFinger33_JULIETTE_AV_BRAS_.082' with 444 faces
+g LFinger33_JULIETTE_AV_BRAS_.082
+usemtl milky_white
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diff --git a/crowdbotsim/meshes/LFinger41.dae b/crowdbotsim/meshes/LFinger41.dae
new file mode 100644
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+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
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+ </index_of_refraction>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
+ <library_materials>
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+ </material>
+ </library_materials>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger41" name="LFinger41" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__083-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger41.mtl b/crowdbotsim/meshes/LFinger41.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger41.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger41.obj b/crowdbotsim/meshes/LFinger41.obj
new file mode 100644
index 0000000..9157ae4
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger41.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger41.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger42.dae b/crowdbotsim/meshes/LFinger42.dae
new file mode 100644
index 0000000..ed38eea
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger42.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger42" name="LFinger42" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__084-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger42.mtl b/crowdbotsim/meshes/LFinger42.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger42.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger42.obj b/crowdbotsim/meshes/LFinger42.obj
new file mode 100644
index 0000000..beefacc
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger42.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger42.mtl
+
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diff --git a/crowdbotsim/meshes/LFinger43.dae b/crowdbotsim/meshes/LFinger43.dae
new file mode 100644
index 0000000..8baa6e8
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger43.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__085-mesh" name="JULIETTE_AV_BRAS_.085">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__085-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LFinger43" name="LFinger43" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__085-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LFinger43.mtl b/crowdbotsim/meshes/LFinger43.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger43.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LFinger43.obj b/crowdbotsim/meshes/LFinger43.obj
new file mode 100644
index 0000000..7ea3286
--- /dev/null
+++ b/crowdbotsim/meshes/LFinger43.obj
@@ -0,0 +1,1072 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LFinger43.mtl
+
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+# Mesh 'LFinger43_JULIETTE_AV_BRAS_.085' with 444 faces
+g LFinger43_JULIETTE_AV_BRAS_.085
+usemtl milky_white
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diff --git a/crowdbotsim/meshes/LShoulderPitch.dae b/crowdbotsim/meshes/LShoulderPitch.dae
new file mode 100644
index 0000000..5c46d28
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderPitch.dae
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
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+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LShoulderPitch" name="LShoulderPitch" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_BRAS_DR__001-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LShoulderPitch.mtl b/crowdbotsim/meshes/LShoulderPitch.mtl
new file mode 100644
index 0000000..d11600b
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderPitch.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/LShoulderPitch.obj b/crowdbotsim/meshes/LShoulderPitch.obj
new file mode 100644
index 0000000..b1f8f86
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderPitch.obj
@@ -0,0 +1,1122 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LShoulderPitch.mtl
+
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+
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+# Mesh 'LShoulderPitch_JULIETTE_BRAS_DR_.001' with 436 faces
+g LShoulderPitch_JULIETTE_BRAS_DR_.001
+usemtl shiny_white
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+f 16/16/16 18/18/18 19/19/19
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diff --git a/crowdbotsim/meshes/LShoulderPitch_0.10.stl b/crowdbotsim/meshes/LShoulderPitch_0.10.stl
index 62ed390194a0dd82992db94c30797d50579d6b1b..81e0cd90907903c872fac5fda6f43c8972999e8a 100644
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diff --git a/crowdbotsim/meshes/LShoulderRoll.dae b/crowdbotsim/meshes/LShoulderRoll.dae
new file mode 100644
index 0000000..a7f73ee
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderRoll.dae
@@ -0,0 +1,155 @@
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+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
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+ </asset>
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+ </index_of_refraction>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </emission>
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+ </index_of_refraction>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </polylist>
+ <polylist count="120" material="shiny_white-material">
+ <input offset="0" semantic="VERTEX" source="#JULIETTE_BRAS_GA_JULI-mesh-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#JULIETTE_BRAS_GA_JULI-mesh-normals"/>
+ <input offset="2" semantic="TEXCOORD" set="0" source="#JULIETTE_BRAS_GA_JULI-mesh-map-0"/>
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+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LShoulderRoll" name="LShoulderRoll" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_BRAS_GA_JULI-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LShoulderRoll.mtl b/crowdbotsim/meshes/LShoulderRoll.mtl
new file mode 100644
index 0000000..e62bbef
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderRoll.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/LShoulderRoll_0.10.stl b/crowdbotsim/meshes/LShoulderRoll_0.10.stl
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diff --git a/crowdbotsim/meshes/LShoulderRoll_milky.obj b/crowdbotsim/meshes/LShoulderRoll_milky.obj
new file mode 100644
index 0000000..f21e6ce
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderRoll_milky.obj
@@ -0,0 +1,901 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib LShoulderRoll.mtl
+o LShoulderRoll_milky.001
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diff --git a/crowdbotsim/meshes/LShoulderRoll_shiny.obj b/crowdbotsim/meshes/LShoulderRoll_shiny.obj
new file mode 100644
index 0000000..fb91a23
--- /dev/null
+++ b/crowdbotsim/meshes/LShoulderRoll_shiny.obj
@@ -0,0 +1,372 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib LShoulderRoll.mtl
+o LShoulderRoll_shiny.001
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diff --git a/crowdbotsim/meshes/LThumb1.dae b/crowdbotsim/meshes/LThumb1.dae
new file mode 100644
index 0000000..7840bd0
--- /dev/null
+++ b/crowdbotsim/meshes/LThumb1.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__086-mesh" name="JULIETTE_AV_BRAS_.086">
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diff --git a/crowdbotsim/meshes/LThumb1.mtl b/crowdbotsim/meshes/LThumb1.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LThumb1.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LThumb1.obj b/crowdbotsim/meshes/LThumb1.obj
new file mode 100644
index 0000000..0971190
--- /dev/null
+++ b/crowdbotsim/meshes/LThumb1.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LThumb1.mtl
+
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diff --git a/crowdbotsim/meshes/LThumb1_0.10.stl b/crowdbotsim/meshes/LThumb1_0.10.stl
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diff --git a/crowdbotsim/meshes/LThumb2.dae b/crowdbotsim/meshes/LThumb2.dae
new file mode 100644
index 0000000..842ea17
--- /dev/null
+++ b/crowdbotsim/meshes/LThumb2.dae
@@ -0,0 +1,114 @@
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LThumb2" name="LThumb2" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__087-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LThumb2.mtl b/crowdbotsim/meshes/LThumb2.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LThumb2.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LThumb2.obj b/crowdbotsim/meshes/LThumb2.obj
new file mode 100644
index 0000000..603ed21
--- /dev/null
+++ b/crowdbotsim/meshes/LThumb2.obj
@@ -0,0 +1,1079 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LThumb2.mtl
+
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+g LThumb2_JULIETTE_AV_BRAS_.087
+usemtl milky_white
+l 1/1 2/1
+
+# Mesh 'LThumb2_JULIETTE_AV_BRAS_.087' with 444 faces
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diff --git a/crowdbotsim/meshes/LWristYaw.dae b/crowdbotsim/meshes/LWristYaw.dae
new file mode 100644
index 0000000..3f9887f
--- /dev/null
+++ b/crowdbotsim/meshes/LWristYaw.dae
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__074-mesh" name="JULIETTE_AV_BRAS_.074">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__074-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="LWristYaw" name="LWristYaw" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__074-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/LWristYaw.mtl b/crowdbotsim/meshes/LWristYaw.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/LWristYaw.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/LWristYaw.obj b/crowdbotsim/meshes/LWristYaw.obj
new file mode 100644
index 0000000..cc031a7
--- /dev/null
+++ b/crowdbotsim/meshes/LWristYaw.obj
@@ -0,0 +1,5530 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib LWristYaw.mtl
+
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+
+# Mesh 'LWristYaw_JULIETTE_AV_BRAS_.074' with 2090 faces
+g LWristYaw_JULIETTE_AV_BRAS_.074
+usemtl milky_white
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diff --git a/crowdbotsim/meshes/LWristYaw_0.10.stl b/crowdbotsim/meshes/LWristYaw_0.10.stl
index 727c9bcc7976a12e6e0ca0879e19b1a67e59fa82..0cbbe59c63561b0d43f6048c50d655df30e41abd 100644
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diff --git a/crowdbotsim/meshes/README.md b/crowdbotsim/meshes/README.md
new file mode 100644
index 0000000..f48524c
--- /dev/null
+++ b/crowdbotsim/meshes/README.md
@@ -0,0 +1,28 @@
+# Meshes for the Pepper 1.7 model
+
+Those meshes are used to display the PepperVirtual model.
+
+### Conversion from dae to obj
+This part can be used to convert the .dae to .obj. You won't need it to launch the PepperVirtual model, all the conversions have been made. To perform a conversion, the following actions have to be taken (tested on Linux):
+* Install assimp on your computer
+* Clone and compile [bullet3](https://github.com/bulletphysics/bullet3)
+* Open the desired .dae file
+* Change __<up_axis>Z_UP</up_axis>__ by __<up_axis>Y_UP</up_axis>__
+* Look in the .dae file the number of used textures, let n be that number
+* Create a .obj and a .mtl via the following command
+```bash
+assimp export your_file.dae your_file.obj
+mv your_file.obj.mtl your_file.mtl
+```
+
+* Open your .obj file and change __mtllib your_file.obj.mtl__ by __mtllib your_file.mtl__
+* If n == 1, you're done, be sure to modify your URDF accordingly, to use the .obj file as a visual mesh
+* If n > 1, type the following command from this mesh folder:
+```bash
+# Please note that the name App_obj2sdf_gmake_x64_release can vary depending on
+# the tools you used to compile bullet3 and your software environment
+/path/to/bullet_code/bullet3/bin/App_obj2sdf_gmake_x64_release --fileName="your_file.obj"
+```
+
+* You can then remove your_file.obj and the newsdf.sdf files, and rename the partX.obj files relatively to the link and the texture represented.
+* Be sure to update your URDF to take those new visual obj into account, you'll have to create additional links to display the extra textures (see pepper.urdf)
diff --git a/crowdbotsim/meshes/RElbowRoll.dae b/crowdbotsim/meshes/RElbowRoll.dae
new file mode 100644
index 0000000..f6ce7ad
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowRoll.dae
@@ -0,0 +1,143 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__027-mesh" name="JULIETTE_AV_BRAS_.027">
+ <mesh>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RElbowRoll" name="RElbowRoll" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__027-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RElbowRoll.mtl b/crowdbotsim/meshes/RElbowRoll.mtl
new file mode 100644
index 0000000..e62bbef
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowRoll.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/RElbowRoll.obj b/crowdbotsim/meshes/RElbowRoll.obj
new file mode 100644
index 0000000..8f6fecb
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowRoll.obj
@@ -0,0 +1,764 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RElbowRoll.mtl
+
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+
+# Mesh 'RElbowRoll_JULIETTE_AV_BRAS_.027' with 145 faces
+g RElbowRoll_JULIETTE_AV_BRAS_.027
+usemtl shiny_white
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+f 29/31/32 31/33/34 32/34/35
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+f 41/44/45 42/45/46 16/18/19
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+f 45/48/49 46/49/50 44/47/48
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+f 39/41/42 15/43/44 40/42/43
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+f 65/73/72 78/88/88 67/75/74
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+f 52/58/56 47/57/51 78/88/88
+f 29/31/91 27/29/59 80/92/92
+f 73/83/83 56/62/61 66/74/73
+f 60/66/65 52/58/56 65/73/72
+f 11/12/12 13/14/14 39/68/67
+f 69/77/76 67/75/74 81/93/93
+f 64/72/71 82/96/96 59/65/64
+f 82/96/96 64/72/71 51/56/55
+f 33/95/95 31/97/97 77/87/87
+f 74/84/84 68/76/75 76/86/86
+f 81/93/93 79/89/89 41/94/94
+f 7/8/78 9/10/98 35/79/79
+f 72/82/82 53/59/57 24/26/27
+f 18/20/21 62/70/69 23/25/26
+f 82/96/96 51/56/55 61/67/66
+f 62/70/69 57/63/62 71/81/81
+
+# Mesh 'RElbowRoll_JULIETTE_AV_BRAS_.027' with 121 faces
+g RElbowRoll_JULIETTE_AV_BRAS_.027
+usemtl milky_white
+f 86/101/102 87/102/103 88/103/104
+f 89/104/105 90/105/106 91/106/107
+f 92/107/108 93/108/109 94/109/110
+f 95/110/111 96/111/112 97/112/113
+f 98/113/114 99/114/115 100/115/116
+f 90/116/106 89/104/105 101/117/117
+f 102/118/118 87/102/103 86/101/102
+f 103/119/119 104/120/120 96/111/112
+f 105/121/121 98/113/114 106/122/122
+f 107/123/123 108/124/124 109/125/125
+f 1/1/1 85/100/101 88/103/104
+f 16/18/19 89/104/105 110/126/126
+f 50/53/54 111/127/127 103/119/119
+f 26/28/29 28/30/31 105/121/121
+f 38/40/41 40/42/43 93/108/109
+f 19/21/22 107/128/123 112/129/128
+f 85/100/101 36/38/39 113/130/129
+f 114/131/130 108/124/124 21/23/24
+f 46/49/131 95/110/111 115/132/132
+f 30/32/33 32/34/35 99/114/115
+f 42/45/46 101/117/117 89/104/105
+f 34/36/37 1/1/1 87/102/103
+f 48/51/52 103/119/119 95/110/111
+f 28/30/31 30/32/33 98/113/114
+f 93/108/109 40/42/43 17/19/20
+f 32/34/35 34/36/37 102/118/118
+f 44/47/48 115/132/132 101/117/117
+f 36/38/39 38/40/41 92/107/108
+f 22/24/25 26/28/29 116/133/133
+f 108/124/124 107/128/123 19/21/22
+f 111/127/127 50/53/54 84/134/100
+f 117/135/134 83/136/99 20/137/23
+f 83/136/99 117/137/134 118/138/135
+f 109/139/125 108/124/124 114/131/130
+f 119/140/136 114/131/130 116/133/133
+f 119/140/136 109/141/125 114/131/130
+f 120/142/137 116/133/133 105/121/121
+f 120/142/138 119/143/136 116/133/133
+f 121/144/139 122/145/140 105/121/121
+f 122/145/140 120/142/141 105/121/121
+f 123/146/142 99/114/115 102/118/118
+f 124/147/143 123/146/142 102/118/118
+f 123/146/142 100/115/116 99/114/115
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+f 125/148/144 127/150/146 88/103/104
+f 128/151/147 113/130/129 92/107/108
+f 129/152/148 128/151/147 92/107/108
+f 128/151/147 126/149/145 113/130/129
+f 130/153/149 93/108/109 110/126/126
+f 91/106/107 131/154/150 110/126/126
+f 130/153/149 94/109/110 93/108/109
+f 132/155/151 101/117/117 115/132/132
+f 97/112/113 132/155/151 115/132/132
+f 132/155/151 133/156/152 101/117/117
+f 111/127/127 134/157/153 103/119/119
+f 134/157/154 104/120/120 103/119/119
+f 104/135/155 134/138/155 135/137/155
+f 132/135/156 97/138/156 135/137/156
+f 133/135/157 132/138/157 135/137/157
+f 131/135/158 91/138/158 135/137/158
+f 94/135/159 130/138/159 135/137/159
+f 128/135/160 129/138/160 135/137/160
+f 126/135/161 128/138/161 135/137/161
+f 125/135/162 126/138/162 135/137/162
+f 127/135/163 125/138/163 135/137/163
+f 123/135/164 124/138/164 135/137/164
+f 100/135/165 123/138/165 135/137/165
+f 122/135/166 121/138/166 135/137/166
+f 119/135/167 120/138/167 135/137/167
+f 109/135/168 119/138/168 135/137/168
+f 134/135/169 111/138/169 135/137/169
+f 112/135/170 107/138/170 135/137/170
+f 120/135/171 122/138/171 135/137/171
+f 130/135/172 131/138/172 135/137/172
+f 117/135/173 112/138/173 135/137/173
+f 111/135/174 118/138/174 135/137/174
+f 107/135/175 109/138/175 135/137/175
+f 118/135/176 117/138/176 135/137/176
+f 121/135/177 106/138/177 135/137/177
+f 96/135/178 104/138/178 135/137/178
+f 124/135/179 86/138/179 135/137/179
+f 90/135/180 133/138/180 135/137/180
+f 106/135/181 100/138/181 135/137/181
+f 97/135/182 96/138/182 135/137/182
+f 129/135/183 94/138/183 135/137/183
+f 91/135/184 90/138/184 135/137/184
+f 86/135/185 127/138/185 135/137/185
+f 127/150/146 86/101/102 88/103/104
+f 110/126/126 89/104/105 91/106/107
+f 129/152/148 92/107/108 94/109/110
+f 115/132/132 95/110/111 97/112/113
+f 106/122/122 98/113/114 100/115/116
+f 133/156/152 90/116/106 101/117/117
+f 124/147/143 102/118/118 86/101/102
+f 95/110/111 103/119/119 96/111/112
+f 121/158/139 105/121/121 106/122/122
+f 87/102/103 1/1/1 88/103/104
+f 17/19/20 16/18/19 110/126/126
+f 48/51/52 50/53/54 103/119/119
+f 116/133/133 26/28/29 105/121/121
+f 92/107/108 38/40/41 93/108/109
+f 20/22/23 19/21/22 112/129/128
+f 88/103/104 85/100/101 113/130/129
+f 22/24/25 114/131/130 21/23/24
+f 44/47/48 46/49/131 115/132/132
+f 98/113/114 30/32/33 99/114/115
+f 16/18/19 42/45/46 89/104/105
+f 102/118/118 34/36/37 87/102/103
+f 46/49/131 48/51/52 95/110/111
+f 105/121/121 28/30/31 98/113/114
+f 110/126/126 93/108/109 17/19/20
+f 99/114/115 32/34/35 102/118/118
+f 42/45/46 44/47/48 101/117/117
+f 113/130/129 36/38/39 92/107/108
+f 114/131/130 22/24/25 116/133/133
+f 21/23/24 108/124/124 19/21/22
+f 118/159/135 111/127/127 84/134/100
+f 112/138/128 117/135/134 20/137/23
+f 84/135/100 83/136/99 118/138/135
+f 131/154/150 130/153/149 110/126/126
+
diff --git a/crowdbotsim/meshes/RElbowRoll_0.10.stl b/crowdbotsim/meshes/RElbowRoll_0.10.stl
index 1ed8f9598ef1ddd03d5f5727044b83ed3ceb3a98..f12e0aa8203a1b814f29f25e2b83eb87f1b4fd20 100644
GIT binary patch
literal 1384
zcmb7^Ye<t(7{?FUMV1!UlCoMWO1fZMZfa=foEWaKB1{cisimojn99o1B)3^+T68r-
zvs!FsNvvR5)b^fJeGrWW5kXqfMJ<scDs+*ut=DhQTc3JA9eDr0=k|Zj(U+H&829Jp
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diff --git a/crowdbotsim/meshes/RElbowRoll_milky.obj b/crowdbotsim/meshes/RElbowRoll_milky.obj
new file mode 100644
index 0000000..dff39d6
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowRoll_milky.obj
@@ -0,0 +1,666 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib RElbowRoll.mtl
+#object RElbowRoll_JULIETTE_AV_BRAS_.027
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diff --git a/crowdbotsim/meshes/RElbowRoll_shiny.obj b/crowdbotsim/meshes/RElbowRoll_shiny.obj
new file mode 100644
index 0000000..bc13f1e
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowRoll_shiny.obj
@@ -0,0 +1,468 @@
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diff --git a/crowdbotsim/meshes/RElbowYaw.dae b/crowdbotsim/meshes/RElbowYaw.dae
new file mode 100644
index 0000000..2c8316a
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowYaw.dae
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__003-mesh" name="JULIETTE_AV_BRAS_.003">
+ <mesh>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RElbowYaw" name="RElbowYaw" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__003-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RElbowYaw.mtl b/crowdbotsim/meshes/RElbowYaw.mtl
new file mode 100644
index 0000000..d11600b
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowYaw.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/RElbowYaw.obj b/crowdbotsim/meshes/RElbowYaw.obj
new file mode 100644
index 0000000..6b2ba94
--- /dev/null
+++ b/crowdbotsim/meshes/RElbowYaw.obj
@@ -0,0 +1,1170 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RElbowYaw.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger11.dae b/crowdbotsim/meshes/RFinger11.dae
new file mode 100644
index 0000000..d68de7f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger11.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
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+ <technique sid="common">
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+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
+ <diffuse>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger11" name="RFinger11" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__090-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger11.mtl b/crowdbotsim/meshes/RFinger11.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger11.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger11.obj b/crowdbotsim/meshes/RFinger11.obj
new file mode 100644
index 0000000..ce9eda6
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger11.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger11.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger12.dae b/crowdbotsim/meshes/RFinger12.dae
new file mode 100644
index 0000000..6b10755
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger12.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
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+ </index_of_refraction>
+ </lambert>
+ </technique>
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+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger12" name="RFinger12" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__091-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger12.mtl b/crowdbotsim/meshes/RFinger12.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger12.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger12.obj b/crowdbotsim/meshes/RFinger12.obj
new file mode 100644
index 0000000..8eeae71
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger12.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger12.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger13.dae b/crowdbotsim/meshes/RFinger13.dae
new file mode 100644
index 0000000..43a3e16
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger13.dae
@@ -0,0 +1,114 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__092-mesh" name="JULIETTE_AV_BRAS_.092">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__092-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger13" name="RFinger13" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__092-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger13.mtl b/crowdbotsim/meshes/RFinger13.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger13.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger13.obj b/crowdbotsim/meshes/RFinger13.obj
new file mode 100644
index 0000000..b520350
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger13.obj
@@ -0,0 +1,1079 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger13.mtl
+
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+vn -0.00272378 -0.00941588 0.00197912
+
+# Mesh 'RFinger13_JULIETTE_AV_BRAS_.092' with 1 faces
+g RFinger13_JULIETTE_AV_BRAS_.092
+usemtl milky_white
+l 1/1 2/1
+
+# Mesh 'RFinger13_JULIETTE_AV_BRAS_.092' with 444 faces
+g RFinger13_JULIETTE_AV_BRAS_.092
+usemtl milky_white
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diff --git a/crowdbotsim/meshes/RFinger21.dae b/crowdbotsim/meshes/RFinger21.dae
new file mode 100644
index 0000000..ae8d957
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger21.dae
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+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
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+ <modified>2015-04-16T14:37:17</modified>
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+ </index_of_refraction>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
+ <library_materials>
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+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
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+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger21" name="RFinger21" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__093-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger21.mtl b/crowdbotsim/meshes/RFinger21.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger21.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger21.obj b/crowdbotsim/meshes/RFinger21.obj
new file mode 100644
index 0000000..b459bcf
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger21.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger21.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger22.dae b/crowdbotsim/meshes/RFinger22.dae
new file mode 100644
index 0000000..b31d9e2
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger22.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger22" name="RFinger22" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__094-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger22.mtl b/crowdbotsim/meshes/RFinger22.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger22.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger22.obj b/crowdbotsim/meshes/RFinger22.obj
new file mode 100644
index 0000000..892655a
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger22.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger22.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger23.dae b/crowdbotsim/meshes/RFinger23.dae
new file mode 100644
index 0000000..7c93d4c
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger23.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__095-mesh" name="JULIETTE_AV_BRAS_.095">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__095-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger23" name="RFinger23" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__095-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger23.mtl b/crowdbotsim/meshes/RFinger23.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger23.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger23.obj b/crowdbotsim/meshes/RFinger23.obj
new file mode 100644
index 0000000..f6aa953
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger23.obj
@@ -0,0 +1,1072 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger23.mtl
+
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+# Mesh 'RFinger23_JULIETTE_AV_BRAS_.095' with 444 faces
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diff --git a/crowdbotsim/meshes/RFinger31.dae b/crowdbotsim/meshes/RFinger31.dae
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+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
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+ <modified>2015-04-16T14:37:17</modified>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
+ <library_materials>
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+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger31" name="RFinger31" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__096-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger31.mtl b/crowdbotsim/meshes/RFinger31.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger31.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger31.obj b/crowdbotsim/meshes/RFinger31.obj
new file mode 100644
index 0000000..22520ae
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger31.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger31.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger32.dae b/crowdbotsim/meshes/RFinger32.dae
new file mode 100644
index 0000000..5dc036d
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger32.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger32" name="RFinger32" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__097-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger32.mtl b/crowdbotsim/meshes/RFinger32.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger32.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger32.obj b/crowdbotsim/meshes/RFinger32.obj
new file mode 100644
index 0000000..440c9ad
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger32.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger32.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger33.dae b/crowdbotsim/meshes/RFinger33.dae
new file mode 100644
index 0000000..db4e51c
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger33.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__098-mesh" name="JULIETTE_AV_BRAS_.098">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__098-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger33" name="RFinger33" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__098-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger33.mtl b/crowdbotsim/meshes/RFinger33.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger33.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger33.obj b/crowdbotsim/meshes/RFinger33.obj
new file mode 100644
index 0000000..a8e9eee
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger33.obj
@@ -0,0 +1,1072 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger33.mtl
+
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+# Mesh 'RFinger33_JULIETTE_AV_BRAS_.098' with 444 faces
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diff --git a/crowdbotsim/meshes/RFinger41.dae b/crowdbotsim/meshes/RFinger41.dae
new file mode 100644
index 0000000..0e4e7f8
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+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
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+ <modified>2015-04-16T14:37:17</modified>
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+ </index_of_refraction>
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+ </technique>
+ </extra>
+ </profile_COMMON>
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+ </effect>
+ </library_effects>
+ <library_materials>
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+ </material>
+ </library_materials>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger41" name="RFinger41" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__099-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger41.mtl b/crowdbotsim/meshes/RFinger41.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger41.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger41.obj b/crowdbotsim/meshes/RFinger41.obj
new file mode 100644
index 0000000..a223891
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger41.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger41.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger42.dae b/crowdbotsim/meshes/RFinger42.dae
new file mode 100644
index 0000000..7bcbdd4
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger42.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
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+ </ambient>
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+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger42" name="RFinger42" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__100-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger42.mtl b/crowdbotsim/meshes/RFinger42.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger42.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger42.obj b/crowdbotsim/meshes/RFinger42.obj
new file mode 100644
index 0000000..c9ff352
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger42.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger42.mtl
+
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diff --git a/crowdbotsim/meshes/RFinger43.dae b/crowdbotsim/meshes/RFinger43.dae
new file mode 100644
index 0000000..efa9aac
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger43.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__101-mesh" name="JULIETTE_AV_BRAS_.101">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__101-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RFinger43" name="RFinger43" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__101-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RFinger43.mtl b/crowdbotsim/meshes/RFinger43.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger43.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RFinger43.obj b/crowdbotsim/meshes/RFinger43.obj
new file mode 100644
index 0000000..63b8716
--- /dev/null
+++ b/crowdbotsim/meshes/RFinger43.obj
@@ -0,0 +1,1072 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RFinger43.mtl
+
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+# Mesh 'RFinger43_JULIETTE_AV_BRAS_.101' with 444 faces
+g RFinger43_JULIETTE_AV_BRAS_.101
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diff --git a/crowdbotsim/meshes/RShoulderPitch.dae b/crowdbotsim/meshes/RShoulderPitch.dae
new file mode 100644
index 0000000..a141297
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderPitch.dae
@@ -0,0 +1,116 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_BRAS_DR_ALL_-mesh" name="JULIETTE_BRAS_DR_ALL ">
+ <mesh>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RShoulderPitch" name="RShoulderPitch" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_BRAS_DR_ALL_-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RShoulderPitch.mtl b/crowdbotsim/meshes/RShoulderPitch.mtl
new file mode 100644
index 0000000..d11600b
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderPitch.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/RShoulderPitch.obj b/crowdbotsim/meshes/RShoulderPitch.obj
new file mode 100644
index 0000000..d17ef1f
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderPitch.obj
@@ -0,0 +1,1122 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RShoulderPitch.mtl
+
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+
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+
+# Mesh 'RShoulderPitch_JULIETTE_BRAS_DR_ALL ' with 436 faces
+g RShoulderPitch_JULIETTE_BRAS_DR_ALL
+usemtl shiny_white
+f 1/1/1 2/2/2 3/3/3
+f 4/4/4 5/5/5 3/3/3
+f 6/6/6 7/7/7 5/5/5
+f 6/6/6 8/8/8 9/9/9
+f 10/10/10 11/11/11 9/9/9
+f 10/10/10 12/12/12 13/13/13
+f 12/12/12 14/14/14 15/15/15
+f 14/14/14 16/16/16 17/17/17
+f 16/16/16 18/18/18 19/19/19
+f 20/20/20 21/21/21 19/19/19
+f 20/20/20 22/22/22 23/23/23
+f 24/24/24 25/25/25 23/23/23
+f 24/24/24 26/26/26 27/27/27
+f 28/28/28 29/29/29 27/27/27
+f 30/30/30 31/31/31 29/29/29
+f 32/32/32 33/33/33 31/31/31
+f 32/32/32 34/34/34 35/35/35
+f 36/36/36 37/37/37 35/35/35
+f 38/38/38 39/39/39 37/37/37
+f 38/38/38 1/40/1 40/41/40
+f 40/42/40 3/3/3 41/43/41
+f 5/5/5 42/44/42 41/43/41
+f 7/7/7 43/45/43 42/44/42
+f 9/9/9 44/46/44 43/45/43
+f 9/9/9 11/11/11 45/47/45
+f 11/11/11 13/13/13 46/48/46
+f 15/15/15 47/49/47 46/48/46
+f 17/17/17 48/50/48 47/49/47
+f 19/19/19 49/51/49 48/50/48
+f 21/21/21 50/52/50 49/51/49
+f 21/21/21 23/23/23 51/53/51
+f 25/25/25 52/54/52 51/53/51
+f 25/25/25 27/27/27 53/55/53
+f 27/27/27 29/29/29 54/56/54
+f 31/31/31 55/57/55 54/56/54
+f 31/31/31 33/33/33 56/58/56
+f 33/33/33 35/35/35 57/59/57
+f 37/37/37 58/60/58 57/59/57
+f 37/37/37 39/39/39 59/61/59
+f 39/39/39 40/41/40 60/62/60
+f 60/63/60 41/43/41 61/64/61
+f 42/44/42 62/65/62 61/64/61
+f 42/44/42 43/45/43 63/66/63
+f 44/46/44 64/67/64 63/66/63
+f 44/46/44 45/47/45 65/68/65
+f 45/47/45 46/48/46 66/69/66
+f 47/49/47 67/70/67 66/69/66
+f 48/50/48 68/71/68 67/70/67
+f 49/51/49 69/72/69 68/71/68
+f 49/51/49 50/52/50 70/73/70
+f 50/52/50 51/53/51 71/74/71
+f 52/54/52 72/75/72 71/74/71
+f 52/54/52 53/55/53 73/76/73
+f 54/56/54 74/77/74 73/76/73
+f 54/56/54 55/57/55 75/78/75
+f 56/58/56 76/79/76 75/78/75
+f 56/58/56 57/59/57 77/80/77
+f 58/60/58 78/81/78 77/80/77
+f 59/61/59 79/82/79 78/81/78
+f 59/61/59 60/62/60 80/83/80
+f 80/84/80 61/64/61 81/85/81
+f 62/65/62 82/86/82 81/85/81
+f 62/65/62 63/66/63 83/87/83
+f 63/66/63 64/67/64 84/88/84
+f 65/68/65 85/89/85 84/88/84
+f 66/69/66 86/90/86 85/89/85
+f 67/70/67 87/91/87 86/90/86
+f 67/70/67 68/71/68 88/92/88
+f 68/71/68 69/72/69 89/93/89
+f 69/72/69 70/73/70 90/94/90
+f 70/73/70 71/74/71 91/95/91
+f 72/75/72 92/96/92 91/95/91
+f 73/76/73 93/97/93 92/96/92
+f 74/77/74 94/98/94 93/97/93
+f 75/78/75 95/99/95 94/98/94
+f 75/78/75 76/79/76 96/100/96
+f 76/79/76 77/80/77 97/101/97
+f 78/81/78 98/102/98 97/101/97
+f 79/82/79 99/103/99 98/102/98
+f 80/83/80 100/104/100 99/103/99
+f 81/85/81 101/105/101 102/106/102
+f 82/86/82 103/107/103 101/105/101
+f 82/86/82 83/87/83 104/108/104
+f 84/88/84 105/109/105 104/108/104
+f 84/88/84 85/89/85 106/110/106
+f 86/90/86 107/111/107 106/110/106
+f 86/90/86 87/91/87 108/112/108
+f 88/92/88 109/113/109 108/112/108
+f 88/92/88 89/93/89 110/114/110
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diff --git a/crowdbotsim/meshes/RShoulderPitch_0.10.stl b/crowdbotsim/meshes/RShoulderPitch_0.10.stl
index 62ed390194a0dd82992db94c30797d50579d6b1b..81e0cd90907903c872fac5fda6f43c8972999e8a 100644
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diff --git a/crowdbotsim/meshes/RShoulderRoll.dae b/crowdbotsim/meshes/RShoulderRoll.dae
new file mode 100644
index 0000000..a83c1ac
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderRoll.dae
@@ -0,0 +1,155 @@
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+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
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+ <modified>2015-04-16T14:37:17</modified>
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+ </polylist>
+ <polylist count="120" material="shiny_white-material">
+ <input offset="0" semantic="VERTEX" source="#JULIETTE_BRAS_GA__002-mesh-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#JULIETTE_BRAS_GA__002-mesh-normals"/>
+ <input offset="2" semantic="TEXCOORD" set="0" source="#JULIETTE_BRAS_GA__002-mesh-map-0"/>
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RShoulderRoll" name="RShoulderRoll" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_BRAS_GA__002-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RShoulderRoll.mtl b/crowdbotsim/meshes/RShoulderRoll.mtl
new file mode 100644
index 0000000..e62bbef
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderRoll.mtl
@@ -0,0 +1,19 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
diff --git a/crowdbotsim/meshes/RShoulderRoll_0.10.stl b/crowdbotsim/meshes/RShoulderRoll_0.10.stl
index 915fedf3d13e4b666e5d4afce19ae5e5f5fa27b7..318db48956ccb8a612fd4506afc874cff984ee9c 100644
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diff --git a/crowdbotsim/meshes/RShoulderRoll_milky.obj b/crowdbotsim/meshes/RShoulderRoll_milky.obj
new file mode 100644
index 0000000..398ef0e
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderRoll_milky.obj
@@ -0,0 +1,903 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib RShoulderRoll.mtl
+#object RShoulderRoll_JULIETTE_BRAS_GA
+
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diff --git a/crowdbotsim/meshes/RShoulderRoll_shiny.obj b/crowdbotsim/meshes/RShoulderRoll_shiny.obj
new file mode 100644
index 0000000..4bda41d
--- /dev/null
+++ b/crowdbotsim/meshes/RShoulderRoll_shiny.obj
@@ -0,0 +1,374 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib RShoulderRoll.mtl
+#object RShoulderRoll_JULIETTE_BRAS_GA
+
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diff --git a/crowdbotsim/meshes/RThumb1.dae b/crowdbotsim/meshes/RThumb1.dae
new file mode 100644
index 0000000..d4c18ee
--- /dev/null
+++ b/crowdbotsim/meshes/RThumb1.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__088-mesh" name="JULIETTE_AV_BRAS_.088">
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diff --git a/crowdbotsim/meshes/RThumb1.mtl b/crowdbotsim/meshes/RThumb1.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RThumb1.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RThumb1.obj b/crowdbotsim/meshes/RThumb1.obj
new file mode 100644
index 0000000..feecbbd
--- /dev/null
+++ b/crowdbotsim/meshes/RThumb1.obj
@@ -0,0 +1,779 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RThumb1.mtl
+
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+f 26/26/26 25/25/25 30/30/30
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diff --git a/crowdbotsim/meshes/RThumb1_0.10.stl b/crowdbotsim/meshes/RThumb1_0.10.stl
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diff --git a/crowdbotsim/meshes/RThumb2.dae b/crowdbotsim/meshes/RThumb2.dae
new file mode 100644
index 0000000..b6c7fff
--- /dev/null
+++ b/crowdbotsim/meshes/RThumb2.dae
@@ -0,0 +1,114 @@
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RThumb2" name="RThumb2" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__089-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RThumb2.mtl b/crowdbotsim/meshes/RThumb2.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RThumb2.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RThumb2.obj b/crowdbotsim/meshes/RThumb2.obj
new file mode 100644
index 0000000..bf5d463
--- /dev/null
+++ b/crowdbotsim/meshes/RThumb2.obj
@@ -0,0 +1,1079 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RThumb2.mtl
+
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+g RThumb2_JULIETTE_AV_BRAS_.089
+usemtl milky_white
+l 1/1 2/1
+
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diff --git a/crowdbotsim/meshes/RWristYaw.dae b/crowdbotsim/meshes/RWristYaw.dae
new file mode 100644
index 0000000..53428d4
--- /dev/null
+++ b/crowdbotsim/meshes/RWristYaw.dae
@@ -0,0 +1,104 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_AV_BRAS__025-mesh" name="JULIETTE_AV_BRAS_.025">
+ <mesh>
+ <source id="JULIETTE_AV_BRAS__025-mesh-positions">
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+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="RWristYaw" name="RWristYaw" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_AV_BRAS__025-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/RWristYaw.mtl b/crowdbotsim/meshes/RWristYaw.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/RWristYaw.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/RWristYaw.obj b/crowdbotsim/meshes/RWristYaw.obj
new file mode 100644
index 0000000..5185e82
--- /dev/null
+++ b/crowdbotsim/meshes/RWristYaw.obj
@@ -0,0 +1,4865 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib RWristYaw.mtl
+
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+
+# Mesh 'RWristYaw_JULIETTE_AV_BRAS_.025' with 2090 faces
+g RWristYaw_JULIETTE_AV_BRAS_.025
+usemtl milky_white
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diff --git a/crowdbotsim/meshes/RWristYaw_0.10.stl b/crowdbotsim/meshes/RWristYaw_0.10.stl
index f8ca3b9d2f33fc0c9e229d3cfd4e2f249ea111d1..e3ec56fc5eda93fa0f834cd9ebbc20c13f90d9fd 100644
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diff --git a/crowdbotsim/meshes/Torso.dae b/crowdbotsim/meshes/Torso.dae
new file mode 100644
index 0000000..da091d5
--- /dev/null
+++ b/crowdbotsim/meshes/Torso.dae
@@ -0,0 +1,203 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="shiny_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">1 1 1 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.64 0.64 0.64 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">1 1 1 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ <effect id="transparent-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">0.8 0.8 0.8 1</color>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.5 0.5 0.5 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">50</float>
+ </shininess>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </phong>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ <material id="shiny_white-material" name="shiny_white">
+ <instance_effect url="#shiny_white-effect"/>
+ </material>
+ <material id="transparent-material" name="transparent">
+ <instance_effect url="#transparent-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="JULIETTE_SUPPORT_TABL-mesh" name="JULIETTE_SUPPORT_TABL">
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+ </polylist>
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+ <input offset="1" semantic="NORMAL" source="#JULIETTE_SUPPORT_TABL-mesh-normals"/>
+ <input offset="2" semantic="TEXCOORD" set="0" source="#JULIETTE_SUPPORT_TABL-mesh-map-0"/>
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+ </polylist>
+ <polylist count="8" material="transparent-material">
+ <input offset="0" semantic="VERTEX" source="#JULIETTE_SUPPORT_TABL-mesh-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#JULIETTE_SUPPORT_TABL-mesh-normals"/>
+ <input offset="2" semantic="TEXCOORD" set="0" source="#JULIETTE_SUPPORT_TABL-mesh-map-0"/>
+ <vcount>3 3 3 3 3 3 3 3 </vcount>
+ <p>105 111 324 106 110 325 107 109 326 56 59 327 105 111 328 107 109 329 57 61 330 56 59 331 107 109 332 57 61 333 107 109 334 104 108 335 53 56 336 54 57 337 55 58 338 53 56 339 55 58 340 56 59 341 53 56 342 56 59 343 57 61 344 52 60 345 53 56 346 57 61 347</p>
+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="Torso" name="Torso" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#JULIETTE_SUPPORT_TABL-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="shiny_white-material" target="#shiny_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ <instance_material symbol="transparent-material" target="#transparent-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/Torso.mtl b/crowdbotsim/meshes/Torso.mtl
new file mode 100644
index 0000000..2ffa326
--- /dev/null
+++ b/crowdbotsim/meshes/Torso.mtl
@@ -0,0 +1,27 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
+newmtl shiny_white
+Kd 0.64 0.64 0.64
+Ka 0 0 0
+Ks 1 1 1
+Ke 1 1 1
+Ns 50
+illum 2
+
+newmtl transparent
+Kd 0.8 0.8 0.8
+Ka 0 0 0
+Ks 0.5 0.5 0.5
+Ke 0 0 0
+d 1
+Ns 50
+illum 2
diff --git a/crowdbotsim/meshes/Torso_0.10.stl b/crowdbotsim/meshes/Torso_0.10.stl
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diff --git a/crowdbotsim/meshes/Torso_milky.obj b/crowdbotsim/meshes/Torso_milky.obj
new file mode 100644
index 0000000..8cd0893
--- /dev/null
+++ b/crowdbotsim/meshes/Torso_milky.obj
@@ -0,0 +1,1644 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib Torso.mtl
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diff --git a/crowdbotsim/meshes/Torso_shiny.obj b/crowdbotsim/meshes/Torso_shiny.obj
new file mode 100644
index 0000000..db52faf
--- /dev/null
+++ b/crowdbotsim/meshes/Torso_shiny.obj
@@ -0,0 +1,1823 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib Torso.mtl
+#object Torso_JULIETTE_SUPPORT_TABL
+
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diff --git a/crowdbotsim/meshes/Torso_transparent.obj b/crowdbotsim/meshes/Torso_transparent.obj
new file mode 100644
index 0000000..17b0454
--- /dev/null
+++ b/crowdbotsim/meshes/Torso_transparent.obj
@@ -0,0 +1,46 @@
+# Exported using automatic converter by Erwin Coumans
+mtllib Torso.mtl
+#object Torso_JULIETTE_SUPPORT_TABL
+
+v 0.563510 -0.580433 1.166990
+v 0.558353 -0.976701 1.174380
+v 1.268690 -0.976700 0.156829
+v 0.565131 0.000001 1.164660
+v 1.284460 0.000002 0.134233
+v 1.277320 -0.580433 0.144471
+v 1.268690 0.976703 0.156829
+v 0.558351 0.976702 1.174380
+v 0.563509 0.580435 1.166990
+v 1.277320 0.580436 0.144471
+usemtl transparent
+
+vn 0.009850 -0.000097 -0.001722
+vn 0.008070 0.005713 -0.001494
+vn 0.001515 0.005872 0.007951
+vn 0.009848 0.000000 -0.001735
+vn 0.001683 0.000000 0.009857
+vn 0.001727 0.000211 0.009847
+vn 0.001515 -0.005872 0.007951
+vn 0.008070 -0.005713 -0.001494
+vn 0.009850 0.000097 -0.001722
+vn 0.001727 -0.000211 0.009847
+
+vt 0.986092 0.336443
+vt 0.987679 0.421572
+vt 0.769082 0.421572
+vt 0.985593 0.211749
+vt 0.764227 0.211749
+vt 0.766427 0.336443
+vt 0.769082 0.001927
+vt 0.987679 0.001927
+vt 0.986092 0.087056
+vt 0.766427 0.087056
+s off
+f 1/1/1 2/2/2 3/3/3
+f 4/4/4 1/1/1 3/3/3
+f 5/5/5 4/4/4 3/3/3
+f 5/5/5 3/3/3 6/6/6
+f 7/7/7 8/8/8 9/9/9
+f 7/7/7 9/9/9 4/4/4
+f 7/7/7 4/4/4 5/5/5
+f 10/10/10 7/7/7 5/5/5
diff --git a/crowdbotsim/meshes/WheelB.dae b/crowdbotsim/meshes/WheelB.dae
new file mode 100644
index 0000000..b82d494
--- /dev/null
+++ b/crowdbotsim/meshes/WheelB.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="GROUPE_01_JULIETT_004-mesh" name="GROUPE_01 JULIETT.004">
+ <mesh>
+ <source id="GROUPE_01_JULIETT_004-mesh-positions">
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363 1145 347 25 1146 345 24 1147 344 363 1148 347 25 1149 346 365 1150 348 367 1151 351 27 1152 349 26 1153 348 367 1154 351 27 1155 350 366 1156 352 369 1157 353 28 1158 352 369 1159 354 368 1160 355 29 1161 354 368 1162 356 371 1163 359 31 1164 357 30 1165 356 371 1166 359 31 1167 358 370 1168 360 372 1169 361 32 1170 360 372 1171 362 373 1172 365 34 1173 363 33 1174 362 373 1175 365 34 1176 364 374 1177 366 375 1178 367 35 1179 366 375 1180 368 377 1181 371 37 1182 369 36 1183 368 377 1184 373 38 1185 371 37 1186 370 376 1187 375 39 1188 373 38 1189 372 379 1190 375 39 1191 374 378 1192 376 381 1193 380 41 1194 377 40 1195 376 381 1196 380 41 1197 379 380 1198 378 362 1199 2 2 1200 22 42 1201 20 0 1202 23 45 1203 22 42 1204 3 3 1205 4 4 1206 24 44 1207 3 3 1208 25 47 1209 24 44 1210 5 5 1211 6 6 1212 26 46 1213 5 5 1214 7 7 1215 27 48 1216 6 6 1217 28 49 1218 27 48 1219 8 8 1220 29 51 1221 28 49 1222 9 9 1223 10 10 1224 30 50 1225 9 9 1226 31 52 1227 30 50 1228 11 11 1229 32 54 1230 31 52 1231 12 12 1232 13 13 1233 33 53 1234 12 12 1235 34 56 1236 33 53 1237 14 14 1238 15 15 1239 35 55 1240 14 14 1241 36 58 1242 35 55 1243 16 16 1244 17 17 1245 37 57 1246 16 16 1247 38 59 1248 37 57 1249 18 18 1250 39 60 1251 38 59 1252 19 19 1253 41 61 1254 39 60 1255 21 20 1256 40 43 1257 41 61 1258 20 0 1259 22 42 1260 42 62 1261 40 43 1262 43 64 1263 42 62 1264 23 45 1265 44 65 1266 43 64 1267 24 44 1268 45 66 1269 44 65 1270 25 47 1271 46 68 1272 45 66 1273 26 46 1274 27 48 1275 47 67 1276 26 46 1277 48 69 1278 47 67 1279 28 49 1280 49 71 1281 48 69 1282 29 51 1283 30 50 1284 50 70 1285 29 51 1286 51 73 1287 50 70 1288 31 52 1289 32 54 1290 52 72 1291 31 52 1292 33 53 1293 53 74 1294 32 54 1295 34 56 1296 54 75 1297 33 53 1298 55 77 1299 54 75 1300 35 55 1301 36 58 1302 56 76 1303 35 55 1304 37 57 1305 57 78 1306 36 58 1307 58 80 1308 57 78 1309 38 59 1310 39 60 1311 59 79 1312 38 59 1313 61 81 1314 59 79 1315 41 61 1316 60 63 1317 61 81 1318 40 43 1319 42 62 1320 62 82 1321 60 63 1322 63 84 1323 62 82 1324 43 64 1325 64 85 1326 63 84 1327 44 65 1328 65 86 1329 64 85 1330 45 66 1331 66 88 1332 65 86 1333 46 68 1334 47 67 1335 67 87 1336 46 68 1337 68 90 1338 67 87 1339 48 69 1340 49 71 1341 69 89 1342 48 69 1343 70 91 1344 69 89 1345 50 70 1346 71 92 1347 70 91 1348 51 73 1349 72 94 1350 71 92 1351 52 72 1352 53 74 1353 73 93 1354 52 72 1355 54 75 1356 74 95 1357 53 74 1358 75 97 1359 74 95 1360 55 77 1361 56 76 1362 76 96 1363 55 77 1364 57 78 1365 77 98 1366 56 76 1367 58 80 1368 78 99 1369 57 78 1370 59 79 1371 79 100 1372 58 80 1373 61 81 1374 81 101 1375 59 79 1376 60 63 1377 80 83 1378 61 81 1379 62 82 1380 82 102 1381 80 83 1382 63 84 1383 83 104 1384 62 82 1385 64 85 1386 84 105 1387 63 84 1388 65 86 1389 85 106 1390 64 85 1391 86 107 1392 85 106 1393 66 88 1394 87 108 1395 86 107 1396 67 87 1397 88 109 1398 87 108 1399 68 90 1400 89 110 1401 88 109 1402 69 89 1403 90 112 1404 89 110 1405 70 91 1406 71 92 1407 91 111 1408 70 91 1409 92 114 1410 91 111 1411 72 94 1412 73 93 1413 93 113 1414 72 94 1415 94 116 1416 93 113 1417 74 95 1418 75 97 1419 95 115 1420 74 95 1421 76 96 1422 96 117 1423 75 97 1424 77 98 1425 97 118 1426 76 96 1427 98 119 1428 97 118 1429 78 99 1430 99 121 1431 98 119 1432 79 100 1433 81 101 1434 101 120 1435 79 100 1436 80 83 1437 100 103 1438 81 101 1439 82 102 1440 102 122 1441 100 103 1442 103 125 1443 102 122 1444 83 104 1445 84 105 1446 104 124 1447 83 104 1448 85 106 1449 105 126 1450 84 105 1451 106 127 1452 105 126 1453 86 107 1454 107 129 1455 106 127 1456 87 108 1457 88 109 1458 108 128 1459 87 108 1460 89 110 1461 109 130 1462 88 109 1463 90 112 1464 110 131 1465 89 110 1466 111 132 1467 110 131 1468 91 111 1469 112 134 1470 111 132 1471 92 114 1472 93 113 1473 113 133 1474 92 114 1475 94 116 1476 114 135 1477 93 113 1478 115 136 1479 114 135 1480 95 115 1481 116 138 1482 115 136 1483 96 117 1484 97 118 1485 117 137 1486 96 117 1487 98 119 1488 118 139 1489 97 118 1490 99 121 1491 119 140 1492 98 119 1493 101 120 1494 121 141 1495 99 121 1496 120 123 1497 121 141 1498 100 103 1499 102 122 1500 122 142 1501 120 123 1502 103 125 1503 123 144 1504 102 122 1505 124 146 1506 123 144 1507 104 124 1508 105 126 1509 125 145 1510 104 124 1511 106 127 1512 126 147 1513 105 126 1514 107 129 1515 127 148 1516 106 127 1517 108 128 1518 128 149 1519 107 129 1520 109 130 1521 129 150 1522 108 128 1523 110 131 1524 130 151 1525 109 130 1526 111 132 1527 131 152 1528 110 131 1529 112 134 1530 132 153 1531 111 132 1532 133 155 1533 132 153 1534 113 133 1535 114 135 1536 134 154 1537 113 133 1538 115 136 1539 135 156 1540 114 135 1541 136 157 1542 135 156 1543 116 138 1544 137 158 1545 136 157 1546 117 137 1547 138 160 1548 137 158 1549 118 139 1550 119 140 1551 139 159 1552 118 139 1553 141 161 1554 139 159 1555 121 141 1556 140 143 1557 141 161 1558 120 123 1559 122 142 1560 142 162 1561 140 143 1562 143 164 1563 142 162 1564 123 144 1565 144 165 1566 143 164 1567 124 146 1568 145 167 1569 144 165 1570 125 145 1571 126 147 1572 146 166 1573 125 145 1574 127 148 1575 147 168 1576 126 147 1577 128 149 1578 148 169 1579 127 148 1580 129 150 1581 149 170 1582 128 149 1583 130 151 1584 150 171 1585 129 150 1586 131 152 1587 151 172 1588 130 151 1589 132 153 1590 152 173 1591 131 152 1592 153 174 1593 152 173 1594 133 155 1595 154 175 1596 153 174 1597 134 154 1598 155 177 1599 154 175 1600 135 156 1601 136 157 1602 156 176 1603 135 156 1604 157 179 1605 156 176 1606 137 158 1607 138 160 1608 158 178 1609 137 158 1610 139 159 1611 159 180 1612 138 160 1613 141 161 1614 161 181 1615 139 159 1616 140 143 1617 160 163 1618 141 161 1619 142 162 1620 162 182 1621 160 163 1622 143 164 1623 163 184 1624 142 162 1625 144 165 1626 164 185 1627 143 164 1628 165 186 1629 164 185 1630 145 167 1631 166 187 1632 165 186 1633 146 166 1634 167 188 1635 166 187 1636 147 168 1637 168 189 1638 167 188 1639 148 169 1640 169 190 1641 168 189 1642 149 170 1643 170 191 1644 169 190 1645 150 171 1646 171 193 1647 170 191 1648 151 172 1649 152 173 1650 172 192 1651 151 172 1652 153 174 1653 173 194 1654 152 173 1655 174 195 1656 173 194 1657 154 175 1658 175 196 1659 174 195 1660 155 177 1661 176 198 1662 175 196 1663 156 176 1664 157 179 1665 177 197 1666 156 176 1667 158 178 1668 178 199 1669 157 179 1670 159 180 1671 179 200 1672 158 178 1673 161 181 1674 181 201 1675 159 180 1676 160 163 1677 180 183 1678 161 181 1679 182 203 1680 200 202 1681 162 182 1682 183 204 1683 182 203 1684 163 184 1685 184 206 1686 183 204 1687 164 185 1688 165 186 1689 185 205 1690 164 185 1691 166 187 1692 186 207 1693 165 186 1694 167 188 1695 187 208 1696 166 187 1697 188 210 1698 187 208 1699 168 189 1700 169 190 1701 189 209 1702 168 189 1703 190 211 1704 189 209 1705 170 191 1706 191 212 1707 190 211 1708 171 193 1709 192 214 1710 191 212 1711 172 192 1712 173 194 1713 193 213 1714 172 192 1715 174 195 1716 194 215 1717 173 194 1718 175 196 1719 195 216 1720 174 195 1721 196 217 1722 195 216 1723 176 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249 1878 248 269 1879 227 248 1880 229 250 1881 249 270 1882 228 249 1883 230 252 1884 250 271 1885 229 250 1886 251 272 1887 250 271 1888 231 251 1889 252 274 1890 251 272 1891 232 254 1892 233 253 1893 253 273 1894 232 254 1895 234 255 1896 254 275 1897 233 253 1898 235 256 1899 255 276 1900 234 255 1901 236 258 1902 256 277 1903 235 256 1904 257 278 1905 256 277 1906 237 257 1907 258 280 1908 257 278 1909 238 259 1910 239 260 1911 259 279 1912 238 259 1913 241 261 1914 261 281 1915 239 260 1916 260 262 1917 261 281 1918 240 242 1919 262 283 1920 280 282 1921 242 264 1922 263 285 1923 262 283 1924 243 263 1925 244 265 1926 264 284 1927 243 263 1928 265 287 1929 264 284 1930 245 266 1931 246 267 1932 266 286 1933 245 266 1934 247 268 1935 267 288 1936 246 267 1937 248 269 1938 268 289 1939 247 268 1940 249 270 1941 269 290 1942 248 269 1943 270 292 1944 269 290 1945 250 271 1946 251 272 1947 271 291 1948 250 271 1949 252 274 1950 272 293 1951 251 272 1952 253 273 1953 273 294 1954 252 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320 2032 278 299 2033 281 301 2034 301 321 2035 279 300 2036 300 302 2037 301 321 2038 280 282 2039 302 324 2040 320 322 2041 282 303 2042 283 304 2043 303 323 2044 282 303 2045 304 325 2046 303 323 2047 284 306 2048 305 326 2049 304 325 2050 285 305 2051 306 328 2052 305 326 2053 286 307 2054 287 308 2055 307 327 2056 286 307 2057 308 330 2058 307 327 2059 288 309 2060 289 310 2061 309 329 2062 288 309 2063 290 312 2064 310 331 2065 289 310 2066 291 311 2067 311 332 2068 290 312 2069 312 334 2070 311 332 2071 292 313 2072 293 315 2073 313 333 2074 292 313 2075 314 335 2076 313 333 2077 294 314 2078 315 337 2079 314 335 2080 295 316 2081 296 317 2082 316 336 2083 295 316 2084 297 319 2085 317 338 2086 296 317 2087 318 339 2088 317 338 2089 298 318 2090 319 341 2091 318 339 2092 299 320 2093 301 321 2094 321 340 2095 299 320 2096 320 322 2097 321 340 2098 300 302 2099 322 344 2100 340 342 2101 302 324 2102 303 323 2103 323 343 2104 302 324 2105 324 345 2106 323 343 2107 304 325 2108 325 346 2109 324 345 2110 305 326 2111 326 347 2112 325 346 2113 306 328 2114 327 349 2115 326 347 2116 307 327 2117 308 330 2118 328 348 2119 307 327 2120 329 351 2121 328 348 2122 309 329 2123 310 331 2124 330 350 2125 309 329 2126 331 352 2127 330 350 2128 311 332 2129 332 354 2130 331 352 2131 312 334 2132 313 333 2133 333 353 2134 312 334 2135 314 335 2136 334 355 2137 313 333 2138 315 337 2139 335 356 2140 314 335 2141 316 336 2142 336 357 2143 315 337 2144 317 338 2145 337 358 2146 316 336 2147 318 339 2148 338 359 2149 317 338 2150 319 341 2151 339 360 2152 318 339 2153 321 340 2154 341 361 2155 319 341 2156 320 322 2157 340 342 2158 321 340 2159 342 364 2160 378 362 2161 322 344 2162 323 343 2163 344 363 2164 322 344 2165 346 365 2166 344 363 2167 324 345 2168 348 367 2169 346 365 2170 325 346 2171 326 347 2172 350 366 2173 325 346 2174 352 369 2175 350 366 2176 327 349 2177 328 348 2178 354 368 2179 327 349 2180 356 371 2181 354 368 2182 329 351 2183 330 350 2184 358 370 2185 329 351 2186 331 352 2187 360 372 2188 330 350 2189 332 354 2190 362 373 2191 331 352 2192 364 374 2193 362 373 2194 333 353 2195 366 375 2196 364 374 2197 334 355 2198 368 377 2199 366 375 2200 335 356 2201 336 357 2202 370 376 2203 335 356 2204 372 379 2205 370 376 2206 337 358 2207 338 359 2208 374 378 2209 337 358 2210 376 381 2211 374 378 2212 339 360 2213 341 361 2214 379 380 2215 339 360 2216 340 342 2217 378 362 2218 341 361 2219 342 364 2220 343 22 2221 378 362 2222 345 24 2223 343 22 2224 344 363 2225 346 365 2226 347 25 2227 344 363 2228 349 26 2229 347 25 2230 348 367 2231 350 366 2232 351 27 2233 348 367 2234 353 28 2235 351 27 2236 352 369 2237 355 29 2238 353 28 2239 354 368 2240 357 30 2241 355 29 2242 356 371 2243 358 370 2244 359 31 2245 356 371 2246 361 32 2247 359 31 2248 360 372 2249 363 33 2250 361 32 2251 362 373 2252 364 374 2253 365 34 2254 362 373 2255 367 35 2256 365 34 2257 366 375 2258 369 36 2259 367 35 2260 368 377 2261 370 376 2262 371 37 2263 368 377 2264 372 379 2265 373 38 2266 370 376 2267 374 378 2268 375 39 2269 372 379 2270 377 40 2271 375 39 2272 376 381 2273 379 380 2274 380 41 2275 376 381 2276 381 21 2277 380 41 2278 378 362 2279</p>
+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="WheelB" name="WheelB" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#GROUPE_01_JULIETT_004-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/WheelB.mtl b/crowdbotsim/meshes/WheelB.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/WheelB.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/WheelB.obj b/crowdbotsim/meshes/WheelB.obj
new file mode 100644
index 0000000..9320e73
--- /dev/null
+++ b/crowdbotsim/meshes/WheelB.obj
@@ -0,0 +1,1978 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib WheelB.mtl
+
+# 382 vertex positions
+v -0.104143 -0.691382 -0.0338384
+v 1.98364e-06 -0.7 2.28882e-07
+v -0.109502 -0.691382 2.28882e-07
+v -0.104143 -0.691382 0.0338389
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diff --git a/crowdbotsim/meshes/WheelB_0.10.stl b/crowdbotsim/meshes/WheelB_0.10.stl
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diff --git a/crowdbotsim/meshes/WheelFL.dae b/crowdbotsim/meshes/WheelFL.dae
new file mode 100644
index 0000000..7ab79f5
--- /dev/null
+++ b/crowdbotsim/meshes/WheelFL.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="GROUPE_01_JULIETT_003-mesh" name="GROUPE_01 JULIETT.003">
+ <mesh>
+ <source id="GROUPE_01_JULIETT_003-mesh-positions">
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256 824 256 277 825 236 258 826 237 257 827 257 278 828 237 257 829 238 259 830 258 279 831 238 259 832 239 260 833 261 280 834 259 281 835 239 260 836 261 280 837 241 261 838 240 242 839 280 282 840 260 262 841 242 264 842 262 283 843 242 264 844 243 263 845 264 284 846 263 285 847 243 263 848 264 284 849 244 265 850 245 267 851 265 286 852 245 267 853 246 266 854 267 287 855 266 288 856 246 266 857 268 289 858 267 287 859 247 268 860 268 289 861 248 269 862 249 271 863 270 290 864 269 291 865 249 271 866 270 290 867 250 270 868 251 272 869 272 292 870 271 293 871 251 272 872 272 292 873 252 274 874 253 273 875 274 294 876 273 295 877 253 273 878 274 294 879 254 276 880 255 275 881 275 296 882 255 275 883 256 277 884 276 297 885 256 277 886 257 278 887 277 298 888 257 278 889 258 279 890 279 299 891 278 300 892 258 279 893 281 301 894 279 299 895 259 281 896 280 282 897 281 301 898 261 280 899 300 302 900 280 282 901 262 283 902 283 303 903 282 304 904 262 283 905 283 303 906 263 285 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1068 337 357 1069 317 338 1070 339 360 1071 338 359 1072 318 339 1073 339 360 1074 319 340 1075 321 341 1076 341 361 1077 321 341 1078 320 322 1079 378 362 1080 340 342 1081 322 344 1082 344 363 1083 342 364 1084 322 344 1085 344 363 1086 323 343 1087 324 345 1088 346 365 1089 324 345 1090 325 346 1091 350 366 1092 348 367 1093 325 346 1094 352 368 1095 350 366 1096 326 347 1097 354 369 1098 352 368 1099 327 348 1100 356 370 1101 354 369 1102 328 349 1103 358 371 1104 356 370 1105 329 350 1106 360 372 1107 358 371 1108 330 352 1109 360 372 1110 331 351 1111 332 353 1112 364 373 1113 362 374 1114 332 353 1115 364 373 1116 333 355 1117 334 354 1118 366 375 1119 334 354 1120 335 356 1121 368 376 1122 335 356 1123 336 358 1124 370 377 1125 336 358 1126 337 357 1127 374 378 1128 372 379 1129 337 357 1130 374 378 1131 338 359 1132 339 360 1133 379 380 1134 376 381 1135 339 360 1136 378 362 1137 379 380 1138 341 361 1139 381 21 1140 378 362 1141 342 364 1142 343 22 1143 342 364 1144 344 363 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52 1231 11 11 1232 33 54 1233 32 52 1234 13 13 1235 34 56 1236 33 54 1237 14 14 1238 15 15 1239 35 55 1240 14 14 1241 36 58 1242 35 55 1243 16 16 1244 17 17 1245 37 57 1246 16 16 1247 18 18 1248 38 59 1249 17 17 1250 19 19 1251 39 60 1252 18 18 1253 41 61 1254 39 60 1255 21 20 1256 40 43 1257 41 61 1258 20 0 1259 22 42 1260 42 62 1261 40 43 1262 43 65 1263 42 62 1264 23 45 1265 24 44 1266 44 64 1267 23 45 1268 25 46 1269 45 66 1270 24 44 1271 46 68 1272 45 66 1273 26 47 1274 27 48 1275 47 67 1276 26 47 1277 48 70 1278 47 67 1279 28 50 1280 29 49 1281 49 69 1282 28 50 1283 30 51 1284 50 71 1285 29 49 1286 51 73 1287 50 71 1288 31 53 1289 32 52 1290 52 72 1291 31 53 1292 33 54 1293 53 74 1294 32 52 1295 34 56 1296 54 75 1297 33 54 1298 55 76 1299 54 75 1300 35 55 1301 56 78 1302 55 76 1303 36 58 1304 37 57 1305 57 77 1306 36 58 1307 58 80 1308 57 77 1309 38 59 1310 39 60 1311 59 79 1312 38 59 1313 61 81 1314 59 79 1315 41 61 1316 60 63 1317 61 81 1318 40 43 1319 42 62 1320 62 82 1321 60 63 1322 63 85 1323 62 82 1324 43 65 1325 44 64 1326 64 84 1327 43 65 1328 45 66 1329 65 86 1330 44 64 1331 66 88 1332 65 86 1333 46 68 1334 47 67 1335 67 87 1336 46 68 1337 48 70 1338 68 89 1339 47 67 1340 49 69 1341 69 90 1342 48 70 1343 50 71 1344 70 91 1345 49 69 1346 51 73 1347 71 92 1348 50 71 1349 72 94 1350 71 92 1351 52 72 1352 53 74 1353 73 93 1354 52 72 1355 74 95 1356 73 93 1357 54 75 1358 75 97 1359 74 95 1360 55 76 1361 56 78 1362 76 96 1363 55 76 1364 77 98 1365 76 96 1366 57 77 1367 78 100 1368 77 98 1369 58 80 1370 59 79 1371 79 99 1372 58 80 1373 61 81 1374 81 101 1375 59 79 1376 80 83 1377 81 101 1378 60 63 1379 62 82 1380 82 102 1381 80 83 1382 63 85 1383 83 104 1384 62 82 1385 64 84 1386 84 105 1387 63 85 1388 65 86 1389 85 106 1390 64 84 1391 86 107 1392 85 106 1393 66 88 1394 87 108 1395 86 107 1396 67 87 1397 88 109 1398 87 108 1399 68 89 1400 89 110 1401 88 109 1402 69 90 1403 90 111 1404 89 110 1405 70 91 1406 91 112 1407 90 111 1408 71 92 1409 92 114 1410 91 112 1411 72 94 1412 73 93 1413 93 113 1414 72 94 1415 74 95 1416 94 115 1417 73 93 1418 75 97 1419 95 116 1420 74 95 1421 76 96 1422 96 117 1423 75 97 1424 77 98 1425 97 118 1426 76 96 1427 98 120 1428 97 118 1429 78 100 1430 79 99 1431 99 119 1432 78 100 1433 101 121 1434 99 119 1435 81 101 1436 100 103 1437 101 121 1438 80 83 1439 82 102 1440 102 122 1441 100 103 1442 83 104 1443 103 124 1444 82 102 1445 84 105 1446 104 125 1447 83 104 1448 85 106 1449 105 126 1450 84 105 1451 106 127 1452 105 126 1453 86 107 1454 107 129 1455 106 127 1456 87 108 1457 88 109 1458 108 128 1459 87 108 1460 89 110 1461 109 130 1462 88 109 1463 90 111 1464 110 131 1465 89 110 1466 111 133 1467 110 131 1468 91 112 1469 92 114 1470 112 132 1471 91 112 1472 113 135 1473 112 132 1474 93 113 1475 94 115 1476 114 134 1477 93 113 1478 115 136 1479 114 134 1480 95 116 1481 116 137 1482 115 136 1483 96 117 1484 117 138 1485 116 137 1486 97 118 1487 118 139 1488 117 138 1489 98 120 1490 119 141 1491 118 139 1492 99 119 1493 101 121 1494 121 140 1495 99 119 1496 100 103 1497 120 123 1498 101 121 1499 102 122 1500 122 142 1501 120 123 1502 103 124 1503 123 144 1504 102 122 1505 124 145 1506 123 144 1507 104 125 1508 125 146 1509 124 145 1510 105 126 1511 126 148 1512 125 146 1513 106 127 1514 107 129 1515 127 147 1516 106 127 1517 128 150 1518 127 147 1519 108 128 1520 109 130 1521 129 149 1522 108 128 1523 110 131 1524 130 151 1525 109 130 1526 131 153 1527 130 151 1528 111 133 1529 112 132 1530 132 152 1531 111 133 1532 133 155 1533 132 152 1534 113 135 1535 114 134 1536 134 154 1537 113 135 1538 115 136 1539 135 156 1540 114 134 1541 136 158 1542 135 156 1543 116 137 1544 117 138 1545 137 157 1546 116 137 1547 138 160 1548 137 157 1549 118 139 1550 119 141 1551 139 159 1552 118 139 1553 121 140 1554 141 161 1555 119 141 1556 140 143 1557 141 161 1558 120 123 1559 122 142 1560 142 162 1561 140 143 1562 143 164 1563 142 162 1564 123 144 1565 144 165 1566 143 164 1567 124 145 1568 145 166 1569 144 165 1570 125 146 1571 146 167 1572 145 166 1573 126 148 1574 147 169 1575 146 167 1576 127 147 1577 128 150 1578 148 168 1579 127 147 1580 129 149 1581 149 170 1582 128 150 1583 150 172 1584 149 170 1585 130 151 1586 131 153 1587 151 171 1588 130 151 1589 132 152 1590 152 173 1591 131 153 1592 153 174 1593 152 173 1594 133 155 1595 154 176 1596 153 174 1597 134 154 1598 135 156 1599 155 175 1600 134 154 1601 136 158 1602 156 177 1603 135 156 1604 137 157 1605 157 178 1606 136 158 1607 138 160 1608 158 179 1609 137 157 1610 159 181 1611 158 179 1612 139 159 1613 141 161 1614 161 180 1615 139 159 1616 160 163 1617 161 180 1618 140 143 1619 142 162 1620 162 182 1621 160 163 1622 143 164 1623 163 184 1624 142 162 1625 144 165 1626 164 185 1627 143 164 1628 145 166 1629 165 186 1630 144 165 1631 146 167 1632 166 187 1633 145 166 1634 167 188 1635 166 187 1636 147 169 1637 168 189 1638 167 188 1639 148 168 1640 169 190 1641 168 189 1642 149 170 1643 170 191 1644 169 190 1645 150 172 1646 171 193 1647 170 191 1648 151 171 1649 152 173 1650 172 192 1651 151 171 1652 173 194 1653 172 192 1654 153 174 1655 174 195 1656 173 194 1657 154 176 1658 175 196 1659 174 195 1660 155 175 1661 176 198 1662 175 196 1663 156 177 1664 157 178 1665 177 197 1666 156 177 1667 158 179 1668 178 199 1669 157 178 1670 179 200 1671 178 199 1672 159 181 1673 181 201 1674 179 200 1675 161 180 1676 160 163 1677 180 183 1678 161 180 1679 182 203 1680 200 202 1681 162 182 1682 183 204 1683 182 203 1684 163 184 1685 184 205 1686 183 204 1687 164 185 1688 185 207 1689 184 205 1690 165 186 1691 166 187 1692 186 206 1693 165 186 1694 167 188 1695 187 208 1696 166 187 1697 188 210 1698 187 208 1699 168 189 1700 169 190 1701 189 209 1702 168 189 1703 170 191 1704 190 211 1705 169 190 1706 191 212 1707 190 211 1708 171 193 1709 192 214 1710 191 212 1711 172 192 1712 173 194 1713 193 213 1714 172 192 1715 174 195 1716 194 215 1717 173 194 1718 175 196 1719 195 216 1720 174 195 1721 196 218 1722 195 216 1723 176 198 1724 177 197 1725 197 217 1726 176 198 1727 198 219 1728 197 217 1729 178 199 1730 199 220 1731 198 219 1732 179 200 1733 201 221 1734 199 220 1735 181 201 1736 200 202 1737 201 221 1738 180 183 1739 182 203 1740 202 222 1741 200 202 1742 183 204 1743 203 224 1744 182 203 1745 184 205 1746 204 225 1747 183 204 1748 185 207 1749 205 226 1750 184 205 1751 206 228 1752 205 226 1753 186 206 1754 187 208 1755 207 227 1756 186 206 1757 208 229 1758 207 227 1759 188 210 1760 209 231 1761 208 229 1762 189 209 1763 190 211 1764 210 230 1765 189 209 1766 191 212 1767 211 232 1768 190 211 1769 212 233 1770 211 232 1771 192 214 1772 213 234 1773 212 233 1774 193 213 1775 214 235 1776 213 234 1777 194 215 1778 215 237 1779 214 235 1780 195 216 1781 196 218 1782 216 236 1783 195 216 1784 197 217 1785 217 238 1786 196 218 1787 218 240 1788 217 238 1789 198 219 1790 199 220 1791 219 239 1792 198 219 1793 221 241 1794 219 239 1795 201 221 1796 200 202 1797 220 223 1798 201 221 1799 222 243 1800 240 242 1801 202 222 1802 223 244 1803 222 243 1804 203 224 1805 224 246 1806 223 244 1807 204 225 1808 205 226 1809 225 245 1810 204 225 1811 226 247 1812 225 245 1813 206 228 1814 227 248 1815 226 247 1816 207 227 1817 228 250 1818 227 248 1819 208 229 1820 209 231 1821 229 249 1822 208 229 1823 230 252 1824 229 249 1825 210 230 1826 211 232 1827 231 251 1828 210 230 1829 232 254 1830 231 251 1831 212 233 1832 213 234 1833 233 253 1834 212 233 1835 214 235 1836 234 255 1837 213 234 1838 215 237 1839 235 256 1840 214 235 1841 236 258 1842 235 256 1843 216 236 1844 217 238 1845 237 257 1846 216 236 1847 218 240 1848 238 259 1849 217 238 1850 219 239 1851 239 260 1852 218 240 1853 221 241 1854 241 261 1855 219 239 1856 240 242 1857 241 261 1858 220 223 1859 242 264 1860 260 262 1861 222 243 1862 223 244 1863 243 263 1864 222 243 1865 224 246 1866 244 265 1867 223 244 1868 245 267 1869 244 265 1870 225 245 1871 226 247 1872 246 266 1873 225 245 1874 227 248 1875 247 268 1876 226 247 1877 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253 273 1955 254 276 1956 274 294 1957 253 273 1958 275 296 1959 274 294 1960 255 275 1961 276 297 1962 275 296 1963 256 277 1964 277 298 1965 276 297 1966 257 278 1967 278 300 1968 277 298 1969 258 279 1970 259 281 1971 279 299 1972 258 279 1973 261 280 1974 281 301 1975 259 281 1976 260 262 1977 280 282 1978 261 280 1979 282 304 1980 300 302 1981 262 283 1982 263 285 1983 283 303 1984 262 283 1985 284 306 1986 283 303 1987 264 284 1988 265 286 1989 285 305 1990 264 284 1991 266 288 1992 286 307 1993 265 286 1994 287 308 1995 286 307 1996 267 287 1997 288 310 1998 287 308 1999 268 289 2000 269 291 2001 289 309 2002 268 289 2003 270 290 2004 290 311 2005 269 291 2006 271 293 2007 291 312 2008 270 290 2009 272 292 2010 292 313 2011 271 293 2012 293 315 2013 292 313 2014 273 295 2015 274 294 2016 294 314 2017 273 295 2018 275 296 2019 295 316 2020 274 294 2021 296 318 2022 295 316 2023 276 297 2024 277 298 2025 297 317 2026 276 297 2027 278 300 2028 298 319 2029 277 298 2030 299 320 2031 298 319 2032 279 299 2033 301 321 2034 299 320 2035 281 301 2036 300 302 2037 301 321 2038 280 282 2039 302 324 2040 320 322 2041 282 304 2042 283 303 2043 303 323 2044 282 304 2045 304 325 2046 303 323 2047 284 306 2048 305 326 2049 304 325 2050 285 305 2051 306 327 2052 305 326 2053 286 307 2054 307 328 2055 306 327 2056 287 308 2057 308 330 2058 307 328 2059 288 310 2060 289 309 2061 309 329 2062 288 310 2063 290 311 2064 310 331 2065 289 309 2066 291 312 2067 311 332 2068 290 311 2069 292 313 2070 312 333 2071 291 312 2072 313 334 2073 312 333 2074 293 315 2075 314 335 2076 313 334 2077 294 314 2078 315 337 2079 314 335 2080 295 316 2081 296 318 2082 316 336 2083 295 316 2084 297 317 2085 317 338 2086 296 318 2087 298 319 2088 318 339 2089 297 317 2090 299 320 2091 319 340 2092 298 319 2093 321 341 2094 319 340 2095 301 321 2096 300 302 2097 320 322 2098 301 321 2099 322 344 2100 340 342 2101 302 324 2102 303 323 2103 323 343 2104 302 324 2105 304 325 2106 324 345 2107 303 323 2108 305 326 2109 325 346 2110 304 325 2111 306 327 2112 326 347 2113 305 326 2114 327 348 2115 326 347 2116 307 328 2117 328 349 2118 327 348 2119 308 330 2120 329 350 2121 328 349 2122 309 329 2123 330 352 2124 329 350 2125 310 331 2126 311 332 2127 331 351 2128 310 331 2129 312 333 2130 332 353 2131 311 332 2132 333 355 2133 332 353 2134 313 334 2135 314 335 2136 334 354 2137 313 334 2138 315 337 2139 335 356 2140 314 335 2141 336 358 2142 335 356 2143 316 336 2144 317 338 2145 337 357 2146 316 336 2147 318 339 2148 338 359 2149 317 338 2150 319 340 2151 339 360 2152 318 339 2153 341 361 2154 339 360 2155 321 341 2156 340 342 2157 341 361 2158 320 322 2159 342 364 2160 378 362 2161 322 344 2162 323 343 2163 344 363 2164 322 344 2165 346 365 2166 344 363 2167 324 345 2168 348 367 2169 346 365 2170 325 346 2171 326 347 2172 350 366 2173 325 346 2174 327 348 2175 352 368 2176 326 347 2177 328 349 2178 354 369 2179 327 348 2180 329 350 2181 356 370 2182 328 349 2183 330 352 2184 358 371 2185 329 350 2186 331 351 2187 360 372 2188 330 352 2189 362 374 2190 360 372 2191 332 353 2192 333 355 2193 364 373 2194 332 353 2195 366 375 2196 364 373 2197 334 354 2198 368 376 2199 366 375 2200 335 356 2201 370 377 2202 368 376 2203 336 358 2204 372 379 2205 370 377 2206 337 357 2207 338 359 2208 374 378 2209 337 357 2210 376 381 2211 374 378 2212 339 360 2213 341 361 2214 379 380 2215 339 360 2216 340 342 2217 378 362 2218 341 361 2219 343 22 2220 381 21 2221 342 364 2222 345 24 2223 343 22 2224 344 363 2225 346 365 2226 347 25 2227 344 363 2228 349 26 2229 347 25 2230 348 367 2231 350 366 2232 351 27 2233 348 367 2234 353 28 2235 351 27 2236 352 368 2237 354 369 2238 355 29 2239 352 368 2240 357 30 2241 355 29 2242 356 370 2243 358 371 2244 359 31 2245 356 370 2246 361 32 2247 359 31 2248 360 372 2249 363 33 2250 361 32 2251 362 374 2252 364 373 2253 365 34 2254 362 374 2255 366 375 2256 367 35 2257 364 373 2258 369 36 2259 367 35 2260 368 376 2261 370 377 2262 371 37 2263 368 376 2264 372 379 2265 373 38 2266 370 377 2267 375 39 2268 373 38 2269 374 378 2270 377 40 2271 375 39 2272 376 381 2273 379 380 2274 380 41 2275 376 381 2276 378 362 2277 381 21 2278 379 380 2279</p>
+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="WheelFL" name="WheelFL" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#GROUPE_01_JULIETT_003-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/WheelFL.mtl b/crowdbotsim/meshes/WheelFL.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/WheelFL.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/WheelFL.obj b/crowdbotsim/meshes/WheelFL.obj
new file mode 100644
index 0000000..cf8bfa5
--- /dev/null
+++ b/crowdbotsim/meshes/WheelFL.obj
@@ -0,0 +1,1978 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib WheelFL.mtl
+
+# 382 vertex positions
+v -0.104144 -0.691381 -0.0338384
+v 3.05176e-07 -0.699999 2.28882e-07
+v -0.109504 -0.691381 2.28882e-07
+v -0.104144 -0.691381 0.0338389
+v -0.0885903 -0.691381 0.0643652
+v -0.0643645 -0.691381 0.0885909
+v -0.0338385 -0.691381 0.104145
+v 3.05176e-07 -0.691381 0.109504
+v 0.0338388 -0.691381 0.104145
+v 0.0643651 -0.691381 0.0885909
+v 0.0885909 -0.691381 0.0643652
+v 0.104145 -0.691381 0.0338389
+v 0.109504 -0.691381 2.28882e-07
+v 0.104145 -0.691381 -0.0338384
+v 0.0885912 -0.691381 -0.0643648
+v 0.0643653 -0.691381 -0.0885904
+v 0.0338388 -0.691381 -0.104144
+v 3.05176e-07 -0.691381 -0.109504
+v -0.0338385 -0.691381 -0.104144
+v -0.0643645 -0.691381 -0.0885906
+v -0.0885903 -0.691381 -0.0643648
+v -0.104146 0.691383 -0.0338384
+v -0.109505 0.691383 2.28882e-07
+v -1.60217e-06 0.700001 2.28882e-07
+v -0.104146 0.691383 0.0338389
+v -0.0885922 0.691383 0.0643652
+v -0.0643664 0.691383 0.0885909
+v -0.03384 0.691383 0.104145
+v -1.60217e-06 0.691383 0.109504
+v 0.0338373 0.691383 0.104145
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diff --git a/crowdbotsim/meshes/WheelFL_0.10.stl b/crowdbotsim/meshes/WheelFL_0.10.stl
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diff --git a/crowdbotsim/meshes/WheelFR.dae b/crowdbotsim/meshes/WheelFR.dae
new file mode 100644
index 0000000..d7797b4
--- /dev/null
+++ b/crowdbotsim/meshes/WheelFR.dae
@@ -0,0 +1,110 @@
+<?xml version="1.0" ?><COLLADA version="1.4.1" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>Blender User</author>
+ <authoring_tool>Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b</authoring_tool>
+ </contributor>
+ <created>2015-04-16T14:37:17</created>
+ <modified>2015-04-16T14:37:17</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_images/>
+ <library_effects>
+ <effect id="milky_white-effect">
+ <profile_COMMON>
+ <technique sid="common">
+ <lambert>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">0 0 0 1</color>
+ </ambient>
+ <diffuse>
+ <color sid="diffuse">1 1 1 1</color>
+ </diffuse>
+ <index_of_refraction>
+ <float sid="index_of_refraction">1</float>
+ </index_of_refraction>
+ </lambert>
+ </technique>
+ <extra>
+ <technique profile="GOOGLEEARTH">
+ <double_sided>1</double_sided>
+ </technique>
+ </extra>
+ </profile_COMMON>
+ <extra><technique profile="MAX3D"><double_sided>1</double_sided></technique></extra>
+ </effect>
+ </library_effects>
+ <library_materials>
+ <material id="milky_white-material" name="milky_white">
+ <instance_effect url="#milky_white-effect"/>
+ </material>
+ </library_materials>
+ <library_geometries>
+ <geometry id="GROUPE_01_JULIETT_002-mesh" name="GROUPE_01 JULIETT.002">
+ <mesh>
+ <source id="GROUPE_01_JULIETT_002-mesh-positions">
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317 338 1069 318 339 1070 339 359 1071 338 360 1072 318 339 1073 339 359 1074 319 340 1075 321 341 1076 341 361 1077 321 341 1078 320 322 1079 378 362 1080 340 342 1081 322 344 1082 344 363 1083 342 364 1084 322 344 1085 344 363 1086 323 343 1087 324 345 1088 346 365 1089 324 345 1090 325 347 1091 350 366 1092 348 367 1093 325 347 1094 352 368 1095 350 366 1096 326 346 1097 354 369 1098 352 368 1099 327 348 1100 356 370 1101 354 369 1102 328 349 1103 358 371 1104 356 370 1105 329 351 1106 360 372 1107 358 371 1108 330 350 1109 362 373 1110 360 372 1111 331 352 1112 362 373 1113 332 353 1114 333 354 1115 364 374 1116 333 354 1117 334 356 1118 366 375 1119 334 356 1120 335 355 1121 370 376 1122 368 377 1123 335 355 1124 370 376 1125 336 357 1126 337 358 1127 372 378 1128 337 358 1129 338 360 1130 374 379 1131 338 360 1132 339 359 1133 379 380 1134 376 381 1135 339 359 1136 378 362 1137 379 380 1138 341 361 1139 381 21 1140 378 362 1141 342 364 1142 343 22 1143 342 364 1144 344 363 1145 347 25 1146 345 24 1147 344 363 1148 347 25 1149 346 365 1150 348 367 1151 351 27 1152 349 26 1153 348 367 1154 351 27 1155 350 366 1156 352 368 1157 355 29 1158 353 28 1159 352 368 1160 355 29 1161 354 369 1162 356 370 1163 359 31 1164 357 30 1165 356 370 1166 359 31 1167 358 371 1168 360 372 1169 361 32 1170 360 372 1171 362 373 1172 365 34 1173 363 33 1174 362 373 1175 367 35 1176 365 34 1177 364 374 1178 367 35 1179 366 375 1180 368 377 1181 371 37 1182 369 36 1183 368 377 1184 373 38 1185 371 37 1186 370 376 1187 375 39 1188 373 38 1189 372 378 1190 377 40 1191 375 39 1192 374 379 1193 380 41 1194 377 40 1195 376 381 1196 381 21 1197 380 41 1198 379 380 1199 2 2 1200 22 42 1201 20 0 1202 23 45 1203 22 42 1204 3 3 1205 4 4 1206 24 44 1207 3 3 1208 5 5 1209 25 46 1210 4 4 1211 26 47 1212 25 46 1213 6 6 1214 27 48 1215 26 47 1216 7 7 1217 28 50 1218 27 48 1219 8 8 1220 9 9 1221 29 49 1222 8 8 1223 30 51 1224 29 49 1225 10 10 1226 31 52 1227 30 51 1228 11 11 1229 32 54 1230 31 52 1231 12 12 1232 13 13 1233 33 53 1234 12 12 1235 14 14 1236 34 55 1237 13 13 1238 35 56 1239 34 55 1240 15 15 1241 36 58 1242 35 56 1243 16 16 1244 17 17 1245 37 57 1246 16 16 1247 38 60 1248 37 57 1249 18 18 1250 19 19 1251 39 59 1252 18 18 1253 41 61 1254 39 59 1255 21 20 1256 40 43 1257 41 61 1258 20 0 1259 22 42 1260 42 62 1261 40 43 1262 23 45 1263 43 64 1264 22 42 1265 24 44 1266 44 65 1267 23 45 1268 45 66 1269 44 65 1270 25 46 1271 46 68 1272 45 66 1273 26 47 1274 27 48 1275 47 67 1276 26 47 1277 48 70 1278 47 67 1279 28 50 1280 29 49 1281 49 69 1282 28 50 1283 50 71 1284 49 69 1285 30 51 1286 51 72 1287 50 71 1288 31 52 1289 52 74 1290 51 72 1291 32 54 1292 33 53 1293 53 73 1294 32 54 1295 34 55 1296 54 75 1297 33 53 1298 55 76 1299 54 75 1300 35 56 1301 56 78 1302 55 76 1303 36 58 1304 37 57 1305 57 77 1306 36 58 1307 58 80 1308 57 77 1309 38 60 1310 39 59 1311 59 79 1312 38 60 1313 61 81 1314 59 79 1315 41 61 1316 60 63 1317 61 81 1318 40 43 1319 42 62 1320 62 82 1321 60 63 1322 43 64 1323 63 84 1324 42 62 1325 44 65 1326 64 85 1327 43 64 1328 45 66 1329 65 86 1330 44 65 1331 66 88 1332 65 86 1333 46 68 1334 47 67 1335 67 87 1336 46 68 1337 68 90 1338 67 87 1339 48 70 1340 49 69 1341 69 89 1342 48 70 1343 70 92 1344 69 89 1345 50 71 1346 51 72 1347 71 91 1348 50 71 1349 72 94 1350 71 91 1351 52 74 1352 53 73 1353 73 93 1354 52 74 1355 74 96 1356 73 93 1357 54 75 1358 55 76 1359 75 95 1360 54 75 1361 76 98 1362 75 95 1363 56 78 1364 57 77 1365 77 97 1366 56 78 1367 78 99 1368 77 97 1369 58 80 1370 79 101 1371 78 99 1372 59 79 1373 61 81 1374 81 100 1375 59 79 1376 80 83 1377 81 100 1378 60 63 1379 62 82 1380 82 102 1381 80 83 1382 83 105 1383 82 102 1384 63 84 1385 64 85 1386 84 104 1387 63 84 1388 65 86 1389 85 106 1390 64 85 1391 66 88 1392 86 107 1393 65 86 1394 87 108 1395 86 107 1396 67 87 1397 88 109 1398 87 108 1399 68 90 1400 89 110 1401 88 109 1402 69 89 1403 90 112 1404 89 110 1405 70 92 1406 71 91 1407 91 111 1408 70 92 1409 92 113 1410 91 111 1411 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1493 121 141 1494 119 140 1495 101 121 1496 100 103 1497 120 123 1498 101 121 1499 102 122 1500 122 142 1501 120 123 1502 103 124 1503 123 144 1504 102 122 1505 124 145 1506 123 144 1507 104 126 1508 125 146 1509 124 145 1510 105 125 1511 126 148 1512 125 146 1513 106 127 1514 107 128 1515 127 147 1516 106 127 1517 108 130 1518 128 149 1519 107 128 1520 109 129 1521 129 150 1522 108 130 1523 110 131 1524 130 151 1525 109 129 1526 131 153 1527 130 151 1528 111 132 1529 112 134 1530 132 152 1531 111 132 1532 133 155 1533 132 152 1534 113 133 1535 114 135 1536 134 154 1537 113 133 1538 135 157 1539 134 154 1540 115 136 1541 116 138 1542 136 156 1543 115 136 1544 137 159 1545 136 156 1546 117 137 1547 118 139 1548 138 158 1549 117 137 1550 119 140 1551 139 160 1552 118 139 1553 121 141 1554 141 161 1555 119 140 1556 120 123 1557 140 143 1558 121 141 1559 122 142 1560 142 162 1561 140 143 1562 143 164 1563 142 162 1564 123 144 1565 144 165 1566 143 164 1567 124 145 1568 145 167 1569 144 165 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1801 202 222 1802 223 244 1803 222 243 1804 203 224 1805 224 246 1806 223 244 1807 204 225 1808 205 226 1809 225 245 1810 204 225 1811 226 248 1812 225 245 1813 206 228 1814 207 227 1815 227 247 1816 206 228 1817 228 249 1818 227 247 1819 208 229 1820 229 251 1821 228 249 1822 209 230 1823 210 231 1824 230 250 1825 209 230 1826 231 253 1827 230 250 1828 211 232 1829 212 233 1830 232 252 1831 211 232 1832 233 255 1833 232 252 1834 213 234 1835 214 236 1836 234 254 1837 213 234 1838 235 256 1839 234 254 1840 215 235 1841 236 257 1842 235 256 1843 216 237 1844 237 258 1845 236 257 1846 217 239 1847 238 260 1848 237 258 1849 218 238 1850 219 240 1851 239 259 1852 218 238 1853 241 261 1854 239 259 1855 221 241 1856 220 223 1857 240 242 1858 221 241 1859 242 264 1860 260 262 1861 222 243 1862 223 244 1863 243 263 1864 222 243 1865 224 246 1866 244 265 1867 223 244 1868 225 245 1869 245 266 1870 224 246 1871 246 268 1872 245 266 1873 226 248 1874 227 247 1875 247 267 1876 226 248 1877 248 269 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1955 254 275 1956 274 294 1957 253 273 1958 275 296 1959 274 294 1960 255 277 1961 276 298 1962 275 296 1963 256 276 1964 257 278 1965 277 297 1966 256 276 1967 278 299 1968 277 297 1969 258 280 1970 279 301 1971 278 299 1972 259 279 1973 261 281 1974 281 300 1975 259 279 1976 260 262 1977 280 282 1978 261 281 1979 282 304 1980 300 302 1981 262 283 1982 263 285 1983 283 303 1984 262 283 1985 284 306 1986 283 303 1987 264 284 1988 265 287 1989 285 305 1990 264 284 1991 266 286 1992 286 307 1993 265 287 1994 267 288 1995 287 308 1996 266 286 1997 288 310 1998 287 308 1999 268 290 2000 269 289 2001 289 309 2002 268 290 2003 270 291 2004 290 311 2005 269 289 2006 271 293 2007 291 312 2008 270 291 2009 272 292 2010 292 313 2011 271 293 2012 293 315 2013 292 313 2014 273 295 2015 274 294 2016 294 314 2017 273 295 2018 275 296 2019 295 316 2020 274 294 2021 296 317 2022 295 316 2023 276 298 2024 297 319 2025 296 317 2026 277 297 2027 278 299 2028 298 318 2029 277 297 2030 299 320 2031 298 318 2032 279 301 2033 301 321 2034 299 320 2035 281 300 2036 300 302 2037 301 321 2038 280 282 2039 302 324 2040 320 322 2041 282 304 2042 283 303 2043 303 323 2044 282 304 2045 304 325 2046 303 323 2047 284 306 2048 305 327 2049 304 325 2050 285 305 2051 286 307 2052 306 326 2053 285 305 2054 307 328 2055 306 326 2056 287 308 2057 308 329 2058 307 328 2059 288 310 2060 309 330 2061 308 329 2062 289 309 2063 310 331 2064 309 330 2065 290 311 2066 311 333 2067 310 331 2068 291 312 2069 292 313 2070 312 332 2071 291 312 2072 313 335 2073 312 332 2074 293 315 2075 294 314 2076 314 334 2077 293 315 2078 315 337 2079 314 334 2080 295 316 2081 296 317 2082 316 336 2083 295 316 2084 297 319 2085 317 338 2086 296 317 2087 298 318 2088 318 339 2089 297 319 2090 299 320 2091 319 340 2092 298 318 2093 321 341 2094 319 340 2095 301 321 2096 300 302 2097 320 322 2098 301 321 2099 322 344 2100 340 342 2101 302 324 2102 303 323 2103 323 343 2104 302 324 2105 324 345 2106 323 343 2107 304 325 2108 325 347 2109 324 345 2110 305 327 2111 306 326 2112 326 346 2113 305 327 2114 307 328 2115 327 348 2116 306 326 2117 308 329 2118 328 349 2119 307 328 2120 329 351 2121 328 349 2122 309 330 2123 310 331 2124 330 350 2125 309 330 2126 311 333 2127 331 352 2128 310 331 2129 312 332 2130 332 353 2131 311 333 2132 333 354 2133 332 353 2134 313 335 2135 334 356 2136 333 354 2137 314 334 2138 315 337 2139 335 355 2140 314 334 2141 316 336 2142 336 357 2143 315 337 2144 337 358 2145 336 357 2146 317 338 2147 338 360 2148 337 358 2149 318 339 2150 319 340 2151 339 359 2152 318 339 2153 341 361 2154 339 359 2155 321 341 2156 340 342 2157 341 361 2158 320 322 2159 342 364 2160 378 362 2161 322 344 2162 323 343 2163 344 363 2164 322 344 2165 346 365 2166 344 363 2167 324 345 2168 348 367 2169 346 365 2170 325 347 2171 326 346 2172 350 366 2173 325 347 2174 327 348 2175 352 368 2176 326 346 2177 328 349 2178 354 369 2179 327 348 2180 329 351 2181 356 370 2182 328 349 2183 330 350 2184 358 371 2185 329 351 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378 2265 373 38 2266 370 376 2267 374 379 2268 375 39 2269 372 378 2270 376 381 2271 377 40 2272 374 379 2273 379 380 2274 380 41 2275 376 381 2276 378 362 2277 381 21 2278 379 380 2279</p>
+ </polylist>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene" name="Scene">
+ <node id="WheelFR" name="WheelFR" type="NODE">
+ <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
+ <instance_geometry url="#GROUPE_01_JULIETT_002-mesh">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="milky_white-material" target="#milky_white-material">
+ <bind_vertex_input input_semantic="TEXCOORD" input_set="0" semantic="UVTex"/>
+ </instance_material>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#Scene"/>
+ </scene>
+</COLLADA>
diff --git a/crowdbotsim/meshes/WheelFR.mtl b/crowdbotsim/meshes/WheelFR.mtl
new file mode 100644
index 0000000..aeb466f
--- /dev/null
+++ b/crowdbotsim/meshes/WheelFR.mtl
@@ -0,0 +1,11 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+newmtl milky_white
+Kd 1 1 1
+Ka 0 0 0
+Ks 0.4 0.4 0.4
+Ke 0 0 0
+Ns 10
+illum 2
+
diff --git a/crowdbotsim/meshes/WheelFR.obj b/crowdbotsim/meshes/WheelFR.obj
new file mode 100644
index 0000000..4608505
--- /dev/null
+++ b/crowdbotsim/meshes/WheelFR.obj
@@ -0,0 +1,1978 @@
+# File produced by Open Asset Import Library (http://www.assimp.sf.net)
+# (assimp v3.2.0)
+
+mtllib WheelFR.mtl
+
+# 382 vertex positions
+v -0.104144 -0.691383 -0.0338384
+v 9.91821e-07 -0.700001 2.28882e-07
+v -0.109503 -0.691383 2.28882e-07
+v -0.104144 -0.691383 0.0338389
+v -0.0885896 -0.691383 0.0643652
+v -0.0643638 -0.691383 0.0885909
+v -0.0338377 -0.691383 0.104145
+v 9.91821e-07 -0.691383 0.109504
+v 0.0338397 -0.691383 0.104145
+v 0.0643658 -0.691383 0.0885909
+v 0.0885915 -0.691383 0.0643652
+v 0.104146 -0.691383 0.0338389
+v 0.109505 -0.691383 2.28882e-07
+v 0.104146 -0.691383 -0.0338384
+v 0.0885919 -0.691383 -0.0643648
+v 0.064366 -0.691383 -0.0885904
+v 0.0338397 -0.691383 -0.104144
+v 9.91821e-07 -0.691383 -0.109504
+v -0.0338377 -0.691383 -0.104144
+v -0.0643638 -0.691383 -0.0885906
+v -0.0885896 -0.691383 -0.0643648
+v -0.104146 0.691381 -0.0338384
+v -0.109505 0.691381 2.28882e-07
+v -9.15527e-07 0.699999 2.28882e-07
+v -0.104145 0.691381 0.0338389
+v -0.0885915 0.691381 0.0643652
+v -0.0643657 0.691381 0.0885909
+v -0.0338392 0.691381 0.104145
+v -9.15527e-07 0.691381 0.109504
+v 0.0338381 0.691381 0.104145
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diff --git a/crowdbotsim/meshes/WheelFR_0.10.stl b/crowdbotsim/meshes/WheelFR_0.10.stl
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diff --git a/crowdbotsim/meshes/juliette_ear.png b/crowdbotsim/meshes/juliette_ear.png
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diff --git a/crowdbotsim/meshes/juliette_eyes.png b/crowdbotsim/meshes/juliette_eyes.png
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diff --git a/crowdbotsim/meshes/juliette_face.png b/crowdbotsim/meshes/juliette_face.png
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diff --git a/crowdbotsim/meshes/pepper.material b/crowdbotsim/meshes/pepper.material
new file mode 100644
index 0000000..3c684ab
--- /dev/null
+++ b/crowdbotsim/meshes/pepper.material
@@ -0,0 +1,206 @@
+
+material _missing_material_
+{
+ receive_shadows off
+ technique
+ {
+ pass
+ {
+ ambient 0.1 0.1 0.1 1.0
+ diffuse 0.8 0.0 0.0 1.0
+ specular 0.5 0.5 0.5 1.0 12.5
+ emissive 0.3 0.3 0.3 1.0
+ }
+ }
+}
+
+// milky_white generated by blender2ogre 0.6.0
+
+material milky_white
+{
+ receive_shadows on
+
+ technique
+ {
+ pass milky_white
+ {
+ ambient 1.0 1.0 1.0 1.0
+ diffuse 1.0 1.0 1.0 1.0
+ specular 0.0 0.0 0.0 1.0 12.5
+ emissive 0.0 0.0 0.0 1.0
+
+ alpha_to_coverage off
+ colour_write on
+ cull_hardware clockwise
+ depth_check on
+ depth_func less_equal
+ depth_write on
+ illumination_stage
+ light_clip_planes off
+ light_scissor off
+ lighting on
+ normalise_normals off
+ polygon_mode solid
+ scene_blend one zero
+ scene_blend_op add
+ shading gouraud
+ transparent_sorting on
+
+ }
+ }
+}
+// shiny_white generated by blender2ogre 0.6.0
+
+material shiny_white
+{
+ receive_shadows on
+
+ technique
+ {
+ pass shiny_white
+ {
+ ambient 0.800000011920929 0.800000011920929 0.800000011920929 1.0
+ diffuse 0.6400000190734865 0.6400000190734865 0.6400000190734865 1.0
+ specular 1.0 1.0 1.0 1.0 12.5
+ emissive 0.800000011920929 0.800000011920929 0.800000011920929 1.0
+
+ alpha_to_coverage off
+ colour_write on
+ cull_hardware clockwise
+ depth_check on
+ depth_func less_equal
+ depth_write on
+ illumination_stage
+ light_clip_planes off
+ light_scissor off
+ lighting on
+ normalise_normals off
+ polygon_mode solid
+ scene_blend one zero
+ scene_blend_op add
+ shading gouraud
+ transparent_sorting on
+
+ }
+ }
+}
+// face_tex generated by blender2ogre 0.6.0
+
+material face_tex
+{
+ receive_shadows on
+
+ technique
+ {
+ pass face_tex
+ {
+ ambient 0.800000011920929 0.800000011920929 0.800000011920929 0.0
+ diffuse 0.0 0.0 0.0 0.0
+ specular 0.0 0.0 0.0 0.0 12.5
+ emissive 0.800000011920929 0.800000011920929 0.800000011920929 0.0
+
+ alpha_to_coverage off
+ colour_write on
+ cull_hardware clockwise
+ depth_check on
+ depth_func less_equal
+ depth_write on
+ illumination_stage
+ light_clip_planes off
+ light_scissor off
+ lighting on
+ normalise_normals off
+ polygon_mode solid
+ scene_blend one zero
+ scene_blend_op add
+ shading gouraud
+ transparent_sorting on
+
+ texture_unit
+ {
+ texture juliette_eyes.png
+ tex_address_mode border
+ tex_border_colour 1.0 0.0 1.0
+ scale 1.0 1.0
+ colour_op modulate
+ }
+ }
+ }
+}
+// ear_tex generated by blender2ogre 0.6.0
+
+material ear_tex
+{
+ receive_shadows on
+
+ technique
+ {
+ pass ear_tex
+ {
+ ambient 0.0 0.0 0.0 1.0
+ diffuse 0.0025789239443838596 0.0025789239443838596 0.0025789239443838596 1.0
+ specular 0.0 0.0 0.0 1.0 12.5
+ emissive 0.0 0.0 0.0 1.0
+
+ alpha_to_coverage off
+ colour_write on
+ cull_hardware clockwise
+ depth_check on
+ depth_func less_equal
+ depth_write on
+ illumination_stage
+ light_clip_planes off
+ light_scissor off
+ lighting on
+ normalise_normals off
+ polygon_mode solid
+ scene_blend one zero
+ scene_blend_op add
+ shading gouraud
+ transparent_sorting on
+
+ texture_unit
+ {
+ texture juliette_ear.png
+ tex_address_mode wrap
+ scale 1.0 1.0
+ colour_op modulate
+ }
+ }
+ }
+}
+// transparent generated by blender2ogre 0.6.0
+
+material transparent
+{
+ receive_shadows on
+
+ technique
+ {
+ pass transparent
+ {
+ ambient 1.0 1.0 1.0 0.0
+ diffuse 0.800000011920929 0.800000011920929 0.800000011920929 0.0
+ specular 0.5 0.5 0.5 0.0 12.5
+ emissive 0.0 0.0 0.0 0.0
+
+ alpha_to_coverage off
+ colour_write on
+ cull_hardware clockwise
+ depth_check on
+ depth_func less_equal
+ depth_write on
+ illumination_stage
+ light_clip_planes off
+ light_scissor off
+ lighting on
+ normalise_normals off
+ polygon_mode solid
+ scene_blend one zero
+ scene_blend_op add
+ shading gouraud
+ transparent_sorting on
+
+ }
+ }
+}
diff --git a/crowdbotsim/pepper.urdf b/crowdbotsim/pepper.urdf
new file mode 100644
index 0000000..ee76542
--- /dev/null
+++ b/crowdbotsim/pepper.urdf
@@ -0,0 +1,2159 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from pepper_robot.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<!--******************************************************************
+ ****** File automatically generated by generate_urdf.py script ******
+ *********************************************************************-->
+<robot name="JulietteY20MP" xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <joint name="HeadYaw" type="revolute">
+ <parent link="torso"/>
+ <child link="Neck"/>
+ <origin rpy="0 0 0" xyz="-0.038 0 0.3089"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="Neck">
+ <inertial>
+ <mass value="0.27391"/>
+ <inertia ixx="0.000343501" ixy="0" ixz="-1.88563e-05" iyy="0.000493898" iyz="2.09863e-06" izz="0.000215252"/>
+ <origin rpy="0 0 0" xyz="-0.00207 0 -0.02636"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- HeadPitch and additional texture links -->
+ <joint name="HeadPitch" type="revolute">
+ <parent link="Neck"/>
+ <child link="Head"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 1.0 0"/>
+ <limit effort="2.666" lower="-0.706858" upper="0.637045" velocity="9.22756"/>
+ </joint>
+ <link name="Head">
+ <inertial>
+ <mass value="1.51893"/>
+ <inertia ixx="0.00597209" ixy="0" ixz="0.000125138" iyy="0.0059054" iyz="4.3428e-07" izz="0.00570374"/>
+ <origin rpy="0 0 0" xyz="0.00312 0 0.11152"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadPitch_eyes.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="HeadPitch_milky_joint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadPitch_milky"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="HeadPitch_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadPitch_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <joint name="HeadPitch_ears_joint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadPitch_ears"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="HeadPitch_ears">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadPitch_ears.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <joint name="HeadPitch_shiny_joint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadPitch_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="HeadPitch_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HeadPitch_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End links for the Head -->
+
+ <joint name="HipRoll" type="revolute">
+ <origin rpy="0 0 0" xyz="-2e-05 0 0.079"/>
+ <child link="torso"/>
+ <parent link="Hip"/>
+ <axis xyz="-1.0 0 0"/>
+ <limit effort="10.1884" lower="-0.514872" upper="0.514872" velocity="2.27032"/>
+ </joint>
+ <link name="Hip">
+ <inertial>
+ <mass value="1.02338"/>
+ <inertia ixx="0.00502422" ixy="0" ixz="-2.54911e-05" iyy="0.00640971" iyz="0.000159449" izz="0.00441082"/>
+ <origin rpy="0 0 0" xyz="0.00032 0 -0.07068"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HipRoll.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.079"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.079"/>
+ </collision>
+ </link>
+
+ <!-- Create Pelvis link and additional link for texture -->
+ <joint name="HipPitch" type="revolute">
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ <child link="Hip"/>
+ <parent link="Pelvis"/>
+ <axis xyz="0 -1.0 0"/>
+ <limit effort="19.787" lower="-1.03847" upper="1.03847" velocity="2.93276"/>
+ </joint>
+ <link name="Pelvis">
+ <inertial>
+ <mass value="2.45917"/>
+ <inertia ixx="0.034351" ixy="0" ixz="0.000223034" iyy="0.0303122" iyz="-8.37542e-05" izz="0.0143771"/>
+ <origin rpy="0 0 0" xyz="0.00237 0 -0.01754"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HipPitch_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </collision>
+ </link>
+ <joint name="HipPitch_shiny_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="Pelvis"/>
+ <child link="HipPitch_shiny"/>
+ </joint>
+ <link name="HipPitch_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/HipPitch_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.268"/>
+ </visual>
+ </link>
+ <!-- End Pelvis link -->
+
+ <!-- KneePitch and additional texture link -->
+ <joint name="KneePitch" type="revolute">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <child link="Pelvis"/>
+ <parent link="Tibia"/>
+ <axis xyz="0 -1.0 0"/>
+ <limit effort="27.702" lower="-0.514872" upper="0.514872" velocity="2.93276"/>
+ </joint>
+ <link name="Tibia">
+ <inertial>
+ <mass value="11.6015"/>
+ <inertia ixx="0.129229" ixy="-0.000401943" ixz="0.00048556" iyy="0.122839" iyz="-1.01666e-08" izz="0.108168"/>
+ <origin rpy="0 0 0" xyz="0.00220451 0 0.082271"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/KneePitch_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/KneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="KneePitch_milky_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <parent link="Tibia"/>
+ <child link="KneePitch_milky"/>
+ </joint>
+ <link name="KneePitch_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/KneePitch_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End KneePitch link -->
+
+ <joint name="base_link_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <child link="base_footprint"/>
+ <parent link="base_link"/>
+ </joint>
+ <link name="base_link">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+
+ <joint name="base_footprint_joint" type="fixed">
+ <origin rpy="0 0 0" xyz="0 0 0.334"/>
+ <child link="Tibia"/>
+ <parent link="base_footprint"/>
+ </joint>
+ <link name="base_footprint">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+
+ <!-- Add the torso link and additional texture links -->
+ <link name="torso">
+ <inertial>
+ <mass value="3.99533"/>
+ <inertia ixx="0.0452761" ixy="0" ixz="0.00499091" iyy="0.0432702" iyz="-0.000266886" izz="0.0258881"/>
+ <origin rpy="0 0 0" xyz="0.00322 0 0.12871"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/Torso_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.139"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/Torso_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.139"/>
+ </collision>
+ </link>
+ <joint name="Torso_shiny_joint" type="fixed">
+ <parent link="torso"/>
+ <child link="Torso_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </joint>
+ <link name="Torso_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/Torso_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </visual>
+ </link>
+ <joint name="Torso_transparent_joint" type="fixed">
+ <parent link="torso"/>
+ <child link="Torso_transparent"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </joint>
+ <link name="Torso_transparent">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/Torso_transparent.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0695"/>
+ </visual>
+ </link>
+ <!-- End torso links -->
+
+ <joint name="LShoulderPitch" type="revolute">
+ <parent link="torso"/>
+ <child link="LShoulder"/>
+ <origin rpy="0 0 0" xyz="-0.057 0.14974 0.22582"/>
+ <axis xyz="0 1.0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="LShoulder">
+ <inertial>
+ <mass value="0.3125"/>
+ <inertia ixx="0.000361198" ixy="-1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="-5.68878e-06" izz="0.000399194"/>
+ <origin rpy="0 0 0" xyz="0.00018 -0.01856 0.00099"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LShoulderPitch.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- LShoulderRoll and additional texture link -->
+ <joint name="LShoulderRoll" type="revolute">
+ <parent link="LShoulder"/>
+ <child link="LBicep"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="0.00872665" upper="1.56207" velocity="9.22756"/>
+ </joint>
+ <link name="LBicep">
+ <inertial>
+ <mass value="0.50527"/>
+ <inertia ixx="0.000500872" ixy="-3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="9.06813e-06" izz="0.00115718"/>
+ <origin rpy="0 0 0" xyz="0.08151 0.01284 -0.01017"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LShoulderRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LShoulderRoll_shiny_joint" type="fixed">
+ <parent link="LBicep"/>
+ <child link="LShoulderRoll_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="LShoulderRoll_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LShoulderRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End LShoulderRoll -->
+
+ <joint name="LElbowYaw" type="revolute">
+ <parent link="LBicep"/>
+ <child link="LElbow"/>
+ <origin rpy="0 -0.157079 0" xyz="0.1812 0.015 0.00013"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="LElbow">
+ <inertial>
+ <mass value="0.27495"/>
+ <inertia ixx="0.000122971" ixy="9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="-1.98925e-06" izz="0.000303047"/>
+ <origin rpy="0 0 0" xyz="-0.02297 -0.00019 0.00119"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LElbowYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LElbowYaw_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- LElbowRoll link and additional texture -->
+ <joint name="LElbowRoll" type="revolute">
+ <parent link="LElbow"/>
+ <child link="LForeArm"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="-1.56207" upper="-0.00872665" velocity="9.22756"/>
+ </joint>
+ <link name="LForeArm">
+ <inertial>
+ <mass value="0.16579"/>
+ <inertia ixx="0.00156513" ixy="1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="-1.7619e-07" izz="0.000273081"/>
+ <origin rpy="0 0 0" xyz="0.0593 0.00271 -0.01014"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LElbowRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LElbowRoll_milky_joint" type="fixed">
+ <parent link="LForeArm"/>
+ <child link="LElbowRoll_milky"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="LElbowRoll_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LElbowRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End definition of LElbowRoll -->
+
+ <joint name="LWristYaw" type="revolute">
+ <parent link="LForeArm"/>
+ <child link="l_wrist"/>
+ <origin rpy="0 0 0" xyz="0.15 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.2014" lower="-1.82387" upper="1.82387" velocity="17.3835"/>
+ </joint>
+ <link name="l_wrist">
+ <inertial>
+ <mass value="0.27555"/>
+ <inertia ixx="0.000151643" ixy="1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="-3.13715e-06" izz="0.000456172"/>
+ <origin rpy="0 0 0" xyz="0.03536 -0.00072 -0.00207"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LWristYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LWristYaw.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LHand" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="l_gripper"/>
+ <origin rpy="0 0 0" xyz="0.025 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.144" lower="0.02" upper="0.98" velocity="12.56"/>
+ </joint>
+ <link name="l_gripper">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ </inertial>
+ </link>
+ <joint name="RShoulderPitch" type="revolute">
+ <parent link="torso"/>
+ <child link="RShoulder"/>
+ <origin rpy="0 0 0" xyz="-0.057 -0.14974 0.22582"/>
+ <axis xyz="0 1.0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="RShoulder">
+ <inertial>
+ <mass value="0.3125"/>
+ <inertia ixx="0.000361198" ixy="1.98347e-06" ixz="6.35907e-07" iyy="0.000137229" iyz="5.68878e-06" izz="0.000399194"/>
+ <origin rpy="0 0 0" xyz="0.00018 0.01856 0.00099"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RShoulderPitch.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- RShoulderRoll and additional texture link -->
+ <joint name="RShoulderRoll" type="revolute">
+ <parent link="RShoulder"/>
+ <child link="RBicep"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="-1.56207" upper="-0.00872665" velocity="9.22756"/>
+ </joint>
+ <link name="RBicep">
+ <inertial>
+ <mass value="0.50527"/>
+ <inertia ixx="0.000500872" ixy="3.55918e-05" ixz="8.51263e-05" iyy="0.00126284" iyz="-9.06813e-06" izz="0.00115718"/>
+ <origin rpy="0 0 0" xyz="0.08151 -0.01284 -0.01017"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RShoulderRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RShoulderRoll_shiny_joint" type="fixed">
+ <parent link="RBicep"/>
+ <child link="RShoulderRoll_shiny"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="RShoulderRoll_shiny">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RShoulderRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End RShoulderRoll -->
+
+ <joint name="RElbowYaw" type="revolute">
+ <parent link="RBicep"/>
+ <child link="RElbow"/>
+ <origin rpy="0 -0.157079 0" xyz="0.1812 -0.015 0.00013"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="5.428" lower="-2.08567" upper="2.08567" velocity="7.33998"/>
+ </joint>
+ <link name="RElbow">
+ <inertial>
+ <mass value="0.27495"/>
+ <inertia ixx="0.000122971" ixy="-9.86024e-07" ixz="-2.55838e-05" iyy="0.000331766" iyz="1.98925e-06" izz="0.000303047"/>
+ <origin rpy="0 0 0" xyz="-0.02297 0.00019 0.00119"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RElbowYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RElbowYaw_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+
+ <!-- RElbowRoll link and additional texture link -->
+ <joint name="RElbowRoll" type="revolute">
+ <parent link="RElbow"/>
+ <child link="RForeArm"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <limit effort="2.666" lower="0.00872665" upper="1.56207" velocity="9.22756"/>
+ </joint>
+ <link name="RForeArm">
+ <inertial>
+ <mass value="0.16579"/>
+ <inertia ixx="0.00156513" ixy="-1.47517e-05" ixz="-6.05746e-05" iyy="0.00173219" iyz="1.7619e-07" izz="0.000273081"/>
+ <origin rpy="0 0 0" xyz="0.0593 -0.00271 -0.01014"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RElbowRoll_shiny.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RElbowRoll_milky_joint" type="fixed">
+ <parent link="RForeArm"/>
+ <child link="RElbowRoll_milky"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </joint>
+ <link name="RElbowRoll_milky">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RElbowRoll_milky.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ </link>
+ <!-- End RElbowRoll -->
+
+ <joint name="RWristYaw" type="revolute">
+ <parent link="RForeArm"/>
+ <child link="r_wrist"/>
+ <origin rpy="0 0 0" xyz="0.15 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.2014" lower="-1.82387" upper="1.82387" velocity="17.3835"/>
+ </joint>
+ <link name="r_wrist">
+ <inertial>
+ <mass value="0.27555"/>
+ <inertia ixx="0.000151643" ixy="-1.06629e-05" ixz="2.89509e-06" iyy="0.000431099" iyz="3.13715e-06" izz="0.000456172"/>
+ <origin rpy="0 0 0" xyz="0.03536 0.00072 -0.00207"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RWristYaw.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RWristYaw.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RHand" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="r_gripper"/>
+ <origin rpy="0 0 0" xyz="0.025 0 0"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="0.144" lower="0.02" upper="0.98" velocity="12.56"/>
+ </joint>
+ <link name="r_gripper">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ </inertial>
+ </link>
+ <link name="SonarBack_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Sonar/Back_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SonarBack_frame"/>
+ <origin rpy="-1.81761e-08 -0.209438 -3.14159" xyz="-0.0718 0 -0.0534"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraBottom_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraBottom_optical_frame_fixedjoint" type="fixed">
+ <parent link="CameraBottom_frame"/>
+ <child link="CameraBottom_optical_frame"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ </joint>
+ <link name="CameraDepth_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraDepth_optical_frame_fixedjoint" type="fixed">
+ <parent link="CameraDepth_frame"/>
+ <child link="CameraDepth_optical_frame"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ </joint>
+ <link name="LHandTouchBack_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
+ <parent link="l_wrist"/>
+ <child link="LHandTouchBack_frame"/>
+ <origin rpy="1.5708 -1.5708 -3.14159" xyz="0.0523 0 0.0304"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="VerticalLeftLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/VerticalLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="VerticalLeftLaser_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingFrontLaser_device_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Front_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingFrontLaser_device_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="BumperB_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Bumper/Back_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="BumperB_frame"/>
+ <origin rpy="0 0 -3.14159" xyz="-0.251 0 -0.264"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingLeftLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Left_projected_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingLeftLaser_frame"/>
+ <origin rpy="0 0 1.75728" xyz="-0.018 0.0899 -0.334"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ShovelLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Shovel_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="ShovelLaser_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ImuTorsoAccelerometer_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Accelerometer_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="ImuTorsoAccelerometer_frame"/>
+ <origin rpy="0 0 0" xyz="0.00239 -0.03575 0.14526"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="RSpeaker_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="SpeakerRight_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="RSpeaker_frame"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingRightLaser_device_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Right_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingRightLaser_device_frame"/>
+ <origin rpy="0 0.349066 -1.5708" xyz="-0.018 -0.0899 -0.0759"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="LSpeaker_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="SpeakerLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="LSpeaker_frame"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="RHandTouchBack_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
+ <parent link="r_wrist"/>
+ <child link="RHandTouchBack_frame"/>
+ <origin rpy="1.5708 -1.5708 -3.14159" xyz="0.0523 0 0.0304"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraTop_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraTop_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="CameraTop_frame"/>
+ <origin rpy="0 0 0" xyz="0.08601 0 0.16284"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingLeftLaser_device_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Left_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingLeftLaser_device_frame"/>
+ <origin rpy="0 0.349066 1.5708" xyz="-0.018 0.0899 -0.0759"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraDepth_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraDepth_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="CameraDepth_frame"/>
+ <origin rpy="0 0 0" xyz="0.05138 0.039 0.1194"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingRightLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Right_projected_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingRightLaser_frame"/>
+ <origin rpy="0 0 -1.75728" xyz="-0.018 -0.0899 -0.334"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="HeadTouchFront_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Head/Touch/Front_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadTouchFront_frame"/>
+ <origin rpy="0 0.20944 0" xyz="0.028175 0 0.21267"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="VerticalRightLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/VerticalRight_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="VerticalRightLaser_frame"/>
+ <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SonarFront_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Sonar/Front_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SonarFront_frame"/>
+ <origin rpy="0 -0.322858 0" xyz="0.0699 0 -0.1023"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="BumperFL_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Bumper/FrontLeft_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="BumperFL_frame"/>
+ <origin rpy="0 0 0.48886" xyz="0.129 0.227 -0.264"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraBottom_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraBottom_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="CameraBottom_frame"/>
+ <origin rpy="0 0.698132 0" xyz="0.09262 0 0.06177"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="CameraTop_optical_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
+ <parent link="CameraTop_frame"/>
+ <child link="CameraTop_optical_frame"/>
+ <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
+ </joint>
+ <link name="ImuBaseAccelerometer_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="AccelerometerBase_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="ImuBaseAccelerometer_frame"/>
+ <origin rpy="0 0 0" xyz="0.0147 -0.0017 -0.26319"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ImuTorsoGyrometer_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Gyrometer_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="ImuTorsoGyrometer_frame"/>
+ <origin rpy="0 0 0" xyz="0.00204 -0.03491 0.12941"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="Tablet_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Tablet_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="Tablet_frame"/>
+ <origin rpy="0 -0.523599 0" xyz="0.0839249 0 0.20151"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="HeadTouchRear_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Head/Touch/Rear_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadTouchRear_frame"/>
+ <origin rpy="0 -0.314159 0" xyz="-0.03376 0 0.21052"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="BumperFR_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Bumper/FrontRight_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="BumperFR_frame"/>
+ <origin rpy="0 0 -0.48886" xyz="0.129 -0.227 -0.264"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="SurroundingFrontLaser_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="LaserSensor/Front_projected_sensor_fixedjoint" type="fixed">
+ <parent link="Tibia"/>
+ <child link="SurroundingFrontLaser_frame"/>
+ <origin rpy="0 0 0" xyz="0.0562 0 -0.334"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="ChestButton_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed">
+ <parent link="torso"/>
+ <child link="ChestButton_frame"/>
+ <origin rpy="0 0 0" xyz="0.049871 0.001588 0.194163"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="HeadTouchMiddle_frame">
+ <inertial>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ </link>
+ <joint name="Head/Touch/Middle_sensor_fixedjoint" type="fixed">
+ <parent link="Head"/>
+ <child link="HeadTouchMiddle_frame"/>
+ <origin rpy="0 -0.0349066 0" xyz="0.0041 0 0.2159"/>
+ <axis xyz="0 0 0"/>
+ </joint>
+ <link name="RFinger41_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger41.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger41.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger41" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger41_link"/>
+ <origin rpy="1.74402 1.04064 -0.0683394" xyz="0.074 -0.0309 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger42_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger42.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger42.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger42" type="revolute">
+ <parent link="LFinger41_link"/>
+ <child link="LFinger42_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger12_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger12.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger12.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger12" type="revolute">
+ <parent link="RFinger11_link"/>
+ <child link="RFinger12_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger33_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger33.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger33.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger33" type="revolute">
+ <parent link="LFinger32_link"/>
+ <child link="LFinger33_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger31_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger31.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger31.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger31" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger31_link"/>
+ <origin rpy="1.67523 1.04483 0.029316" xyz="0.0833 -0.0123 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger21_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger21.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger21.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger21" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger21_link"/>
+ <origin rpy="1.5708 1.0472 -0.061086" xyz="0.0873 -0.0073 0.006"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger32_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger32.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger32.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger32" type="revolute">
+ <parent link="RFinger31_link"/>
+ <child link="RFinger32_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger13_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger13.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger13.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger13" type="revolute">
+ <parent link="LFinger12_link"/>
+ <child link="LFinger13_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger32_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger32.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger32.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger32" type="revolute">
+ <parent link="LFinger31_link"/>
+ <child link="LFinger32_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger11_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger11.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger11.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger11" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger11_link"/>
+ <origin rpy="1.74402 1.04064 -0.0334335" xyz="0.0821 -0.0268 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger22_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger22.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger22.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger22" type="revolute">
+ <parent link="RFinger21_link"/>
+ <child link="RFinger22_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger13_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger13.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger13.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger13" type="revolute">
+ <parent link="RFinger12_link"/>
+ <child link="RFinger13_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger22_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger22.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger22.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger22" type="revolute">
+ <parent link="LFinger21_link"/>
+ <child link="LFinger22_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger21_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger21.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger21.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger21" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger21_link"/>
+ <origin rpy="1.5708 1.0472 0.061086" xyz="0.0873 0.0073 0.006"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger41_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger41.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger41.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger41" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger41_link"/>
+ <origin rpy="1.39757 1.04064 0.0683394" xyz="0.074 0.0309 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger12_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger12.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger12.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger12" type="revolute">
+ <parent link="LFinger11_link"/>
+ <child link="LFinger12_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger23_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger23.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger23.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger23" type="revolute">
+ <parent link="RFinger22_link"/>
+ <child link="RFinger23_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger11_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger11.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger11.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger11" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RFinger11_link"/>
+ <origin rpy="1.39757 1.04064 0.0334335" xyz="0.0821 0.0268 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger23_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger23.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger23.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger23" type="revolute">
+ <parent link="LFinger22_link"/>
+ <child link="LFinger23_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger43_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger43.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger43.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger43" type="revolute">
+ <parent link="LFinger42_link"/>
+ <child link="LFinger43_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger43_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger43.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger43.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger43" type="revolute">
+ <parent link="RFinger42_link"/>
+ <child link="RFinger43_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger42_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger42.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger42.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger42" type="revolute">
+ <parent link="RFinger41_link"/>
+ <child link="RFinger42_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LFinger31_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger31.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LFinger31.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LFinger31" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LFinger31_link"/>
+ <origin rpy="1.46636 1.04483 -0.029314" xyz="0.0833 0.0123 0.004"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RFinger33_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger33.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RFinger33.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RFinger33" type="revolute">
+ <parent link="RFinger32_link"/>
+ <child link="RFinger33_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.018 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LThumb1_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LThumb1.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LThumb1.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LThumb1" type="revolute">
+ <parent link="l_wrist"/>
+ <child link="LThumb1_link"/>
+ <!-- <origin rpy="-1.95836 0.60626 0.533978" xyz="0.0482 -0.0357 -0.0199"/> -->
+ <origin rpy="-2.55836 0.80626 0.533978" xyz="0.0482 -0.0357 -0.0199"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RThumb2_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RThumb2.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RThumb2.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RThumb2" type="revolute">
+ <parent link="RThumb1_link"/>
+ <child link="RThumb2_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.022 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="RThumb1_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RThumb1.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/RThumb1.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="RThumb1" type="revolute">
+ <parent link="r_wrist"/>
+ <child link="RThumb1_link"/>
+ <!-- <origin rpy="-1.18323 0.60626 -0.533978" xyz="0.0482 0.0357 -0.0199"/> -->
+ <origin rpy="-0.58323 0.80626 -0.533978" xyz="0.0482 0.0357 -0.0199"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="RHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="LThumb2_link">
+ <inertial>
+ <mass value="2e-03"/>
+ <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LThumb2.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/LThumb2.dae" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="-1.57 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="LThumb2" type="revolute">
+ <parent link="LThumb1_link"/>
+ <child link="LThumb2_link"/>
+ <origin rpy="0 0 -1.0472" xyz="0.022 0 0"/>
+ <axis xyz="0 0 1.0"/>
+ <mimic joint="LHand" multiplier="0.872665" offset="0"/>
+ <limit effort="0.144" lower="0.0" upper="0.872665" velocity="12.56"/>
+ </joint>
+ <link name="WheelFL_link">
+ <inertial>
+ <mass value="1.58028"/>
+ <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFL.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFL_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="WheelFL" type="continuous">
+ <parent link="Tibia"/>
+ <child link="WheelFL_link"/>
+ <origin rpy="0 0 1.07517" xyz="0.09 0.155 -0.264"/>
+ <axis xyz="1.0 0.0 0.0"/>
+ <limit effort="3.25" lower="0" upper="0" velocity="6.28319"/>
+ </joint>
+ <link name="WheelB_link">
+ <inertial>
+ <mass value="1.58028"/>
+ <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelB.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelB_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="WheelB" type="continuous">
+ <parent link="Tibia"/>
+ <child link="WheelB_link"/>
+ <origin rpy="0 0 -3.14159" xyz="-0.17 0 -0.264"/>
+ <axis xyz="1.0 0 0"/>
+ <limit effort="3.25" lower="0" upper="0" velocity="6.28319"/>
+ </joint>
+ <link name="WheelFR_link">
+ <inertial>
+ <mass value="1.58028"/>
+ <inertia ixx="0.00299756" ixy="6.3068e-07" ixz="5.56903e-06" iyy="0.00303229" iyz="-9.0408e-07" izz="0.00296585"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </inertial>
+ <visual>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFR.obj" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <mesh filename="package://crowdbotsim/meshes/WheelFR_0.10.stl" scale="0.1 0.1 0.1"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="WheelFR" type="continuous">
+ <parent link="Tibia"/>
+ <child link="WheelFR_link"/>
+ <origin rpy="0 0 -1.07517" xyz="0.09 -0.155 -0.264"/>
+ <axis xyz="1.0 0.0 0.0"/>
+ <limit effort="3.25" lower="0" upper="0" velocity="6.28319"/>
+ </joint>
+
+ <!-- HEAD -->
+ <transmission name="HeadYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HeadYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HeadYaw_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="HeadPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HeadPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HeadPitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LShoulderPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LShoulderPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LShoulderPitch_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LShoulderRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LShoulderRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LShoulderRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LElbowYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LElbowYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LElbowYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LElbowRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LElbowRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LElbowRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LWristYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LWristYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LWristYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="LHand_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="LHand">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="LHand_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>36.24</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RShoulderPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RShoulderPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RShoulderPitch_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RShoulderRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RShoulderRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RShoulderRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RElbowYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RElbowYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RElbowYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>101.3</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RElbowRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RElbowRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RElbowRoll_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RWristYaw_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RWristYaw">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RWristYaw_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>118.1</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="RHand_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="RHand">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="RHand_Motor">
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>36.24</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <!-- LEGS -->
+ <transmission name="HipRoll_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HipRoll">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HipRoll_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="HipPitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="HipPitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="HipPitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="KneePitch_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="KneePitch">
+ <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="KneePitch_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>PositionJointInterface</hardwareInterface>
+ <mechanicalReduction>108.33</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="WheelFL_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelFL">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelFL_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="WheelB_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelB">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelB_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+ <transmission name="WheelFR_Transmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="WheelFR">
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="WheelFR_Motor">
+ <!-- Dummy Values -->
+ <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <mechanicalReduction>25.0</mechanicalReduction>
+ </actuator>
+ </transmission>
+</robot>
diff --git a/crowdbotsim/urdf/PepperURDF_V2.urdf b/crowdbotsim/urdf/PepperURDF_V2.urdf
deleted file mode 100644
index fa4ed58..0000000
--- a/crowdbotsim/urdf/PepperURDF_V2.urdf
+++ /dev/null
@@ -1,356 +0,0 @@
-<?xml version='1.0' encoding='utf-8'?>
-<robot name="PepperURDF_V2">
- <material name="Default-Diffuse">
- <color rgba="1 1 1 0.5" />
- </material>
- <link name="base_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.005098 -0.042533 -7.7E-05" />
- <mass value="100" />
- <inertia ixx="1.05186545848846" ixy="0.018275074660778" ixz="-0.000129771753563546" iyy="1.13719856739044" iyz="1.46421336921776E-06" izz="1.86898028850555" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/wheels_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/wheels_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="leg">
- <inertial>
- <origin rpy="0 0 0" xyz="0.279763 0.213669 0.135611" />
- <mass value="1" />
- <inertia ixx="0.0180095843970776" ixy="-2.34699271572936E-07" ixz="1.18836505862419E-05" iyy="0.0188758466392756" iyz="-0.000247422169195488" izz="0.0195367336273193" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/leg_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/leg_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="lower_body">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.000243 -0.004785 0.210595" />
- <mass value="1" />
- <inertia ixx="0.0121049741283059" ixy="-1.11695771920495E-06" ixz="-1.00647946510435E-06" iyy="0.0133131388574839" iyz="-0.000216337226447649" izz="0.00582358427345753" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/lower_body_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/lower_body_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="upper_body">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/upper_body_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="upper_body_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000145 0.007959 0.147839" />
- <mass value="1" />
- <inertia ixx="0.0101322364062071" ixy="6.08802156421007E-06" ixz="1.08719386844314E-05" iyy="0.0113384993746877" iyz="-0.00180153537075967" izz="0.00987729430198669" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/upper_body_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/upper_body_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="head_with_neck">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="head_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000146 -0.002998 0.113767" />
- <mass value="0.1000000015" />
- <inertia ixx="0.000488856574520469" ixy="6.2015026003337E-08" ixz="-5.97300164884018E-09" iyy="0.00046832615043968" iyz="-1.6081739886431E-05" izz="0.000375640578567982" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/head_with_neck_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/head_with_neck_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="R_shoulder">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="R_shoulder_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000152 0.004622 -0.070478" />
- <mass value="1" />
- <inertia ixx="0.00407197093591094" ixy="-6.48579589324072E-06" ixz="-2.84660618490307E-05" iyy="0.00408145179972053" iyz="0.000142000542837195" izz="0.00104234518948942" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="R_arm">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="R_arm_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000778 0.001404 -0.057074" />
- <mass value="1" />
- <inertia ixx="0.00222960580140352" ixy="4.38667200342024E-07" ixz="2.52073041338008E-05" iyy="0.00223079253919423" iyz="-2.26591200771509E-05" izz="0.000629508809652179" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_arm_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_arm_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="R_wrist">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000602 -0.00316 -0.071635" />
- <mass value="1" />
- <inertia ixx="0.0018392113270238" ixy="5.50170116184745E-05" ixz="6.07900619797874E-06" iyy="0.00166046118829399" iyz="-2.35318366321735E-05" izz="0.000787981203757226" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_hand_0.stl" scale="1.000001 0.999999 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/right_hand_0.stl" scale="1.000001 0.999999 1" />
- </geometry>
- </collision>
- </link>
- <link name="L_Shoulder">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="L_Shoulder_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="0.000647 0.004307 -0.07035" />
- <mass value="1" />
- <inertia ixx="0.00407200958579779" ixy="6.58449107504566E-06" ixz="2.63808160525514E-05" iyy="0.00408139172941446" iyz="0.000142557182698511" izz="0.00104235962498933" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_shoulder_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="L_arm">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0" />
- <mass value="1" />
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <link name="L_arm_roll">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.00113 0.00131 -0.056609" />
- <mass value="1" />
- <inertia ixx="0.00222989497706294" ixy="-4.78613515042525E-07" ixz="-2.51892197411507E-06" iyy="0.00223207217641175" iyz="-1.84244709089398E-05" izz="0.000628753390628845" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_arm_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_arm_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <link name="L_wrist">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.001083 -0.003146 -0.071446" />
- <mass value="1" />
- <inertia ixx="0.00183271104469895" ixy="-5.81331405555829E-05" ixz="-8.70803069119575E-06" iyy="0.00165802123956382" iyz="-3.94846174458507E-05" izz="0.00078337307786569" />
- </inertial>
- <visual>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_hand_0.stl" scale="1 1 1" />
- </geometry>
- <material name="Default-Diffuse" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://crowdbotsim/meshes/left_hand_0.stl" scale="1 1 1" />
- </geometry>
- </collision>
- </link>
- <joint name="base_link_leg_joint" type="fixed">
- <origin xyz="-0.28 -0.25 -0.05" />
- <parent link="base_link" />
- <child link="leg" />
- </joint>
- <joint name="leg_lower_body_joint" type="revolute">
- <origin rpy="-0.271867 0 0" xyz="0.28 0.22 0.33" />
- <parent link="leg" />
- <child link="lower_body" />
- <axis xyz="1 0 0" />
- <limit lower="-0.523599" upper="0.087266" effort="1000" velocity="1000" />
- </joint>
- <joint name="lower_body_upper_body_joint" type="revolute">
- <origin rpy="-5.310895 0 0" xyz="0 0 0.42" />
- <parent link="lower_body" />
- <child link="upper_body" />
- <axis xyz="1 0 0" />
- <limit lower="-0.087266" upper="0.523599" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_upper_body_roll_joint" type="revolute">
- <origin rpy="-0.756468 0 0" />
- <parent link="upper_body" />
- <child link="upper_body_roll" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.261799" upper="0.261799" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_roll_head_with_neck_joint" type="revolute">
- <origin xyz="-0.0042 0.0362 0.2735" />
- <parent link="upper_body_roll" />
- <child link="head_with_neck" />
- <axis xyz="1 0 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="head_with_neck_head_roll_joint" type="revolute">
- <parent link="head_with_neck" />
- <child link="head_roll" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.261799" upper="0.261799" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_roll_R_shoulder_joint" type="revolute">
- <origin rpy="-5.984687 0.187516 -4.655093" xyz="-0.1501 0.0581 0.2023" />
- <parent link="upper_body_roll" />
- <child link="R_shoulder" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_shoulder_R_shoulder_roll_joint" type="revolute">
- <parent link="R_shoulder" />
- <child link="R_shoulder_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-1.48353" upper="0.087266" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_shoulder_roll_R_arm_joint" type="revolute">
- <origin rpy="-0.279381 0 0" xyz="0 0 -0.1852" />
- <parent link="R_shoulder_roll" />
- <child link="R_arm" />
- <axis xyz="0 0 1" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_arm_R_arm_roll_joint" type="revolute">
- <parent link="R_arm" />
- <child link="R_arm_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-0.872665" upper="0.872665" effort="1000" velocity="1000" />
- </joint>
- <joint name="R_arm_roll_R_wrist_joint" type="revolute">
- <origin xyz="0 0 -0.1395" />
- <parent link="R_arm_roll" />
- <child link="R_wrist" />
- <axis xyz="0 0 1" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="upper_body_roll_L_Shoulder_joint" type="revolute">
- <origin rpy="-5.984682 6.095667 -1.513497" xyz="0.1501 0.0581 0.2023" />
- <parent link="upper_body_roll" />
- <child link="L_Shoulder" />
- <axis xyz="0 -1 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_Shoulder_L_Shoulder_roll_joint" type="revolute">
- <parent link="L_Shoulder" />
- <child link="L_Shoulder_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-1.48353" upper="0.087266" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_Shoulder_roll_L_arm_joint" type="revolute">
- <origin rpy="-0.261799 0 0" xyz="0 0 -0.1852" />
- <parent link="L_Shoulder_roll" />
- <child link="L_arm" />
- <axis xyz="0 0 1" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_arm_L_arm_roll_joint" type="revolute">
- <parent link="L_arm" />
- <child link="L_arm_roll" />
- <axis xyz="1 0 0" />
- <limit lower="-0.698132" upper="0.698132" effort="1000" velocity="1000" />
- </joint>
- <joint name="L_arm_roll_L_wrist_joint" type="revolute">
- <origin xyz="0 0 -0.1395" />
- <parent link="L_arm_roll" />
- <child link="L_wrist" />
- <axis xyz="0 0 1" />
- <limit lower="-0.872665" upper="0.872665" effort="1000" velocity="1000" />
- </joint>
-</robot>
\ No newline at end of file
--
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