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xyz="-0.057 0.14974 0.22582" /> + <parent link="torso" /> + <child link="LShoulder" /> + <axis xyz="0 1 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="LShoulderRoll" type="revolute"> + <parent link="LShoulder" /> + <child link="LBicep" /> + <axis xyz="0 0 1" /> + <limit lower="0.008727" upper="1.56207" effort="1000" velocity="1000" /> + </joint> + <joint name="LShoulderRoll_shiny_joint" type="fixed"> + <parent link="LBicep" /> + <child link="LShoulderRoll_shiny" /> + </joint> + <joint name="LElbowYaw" type="revolute"> + <origin rpy="0 6.126106 0" xyz="0.1812 0.015 0.00013" /> + <parent link="LBicep" /> + <child link="LElbow" /> + <axis xyz="1 0 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="LElbowRoll" type="revolute"> + <parent link="LElbow" /> + <child link="LForeArm" /> + <axis xyz="0 0 1" /> + <limit lower="-1.56207" upper="-0.008727" effort="1000" velocity="1000" /> + </joint> + <joint name="LElbowRoll_milky_joint" type="fixed"> + <parent link="LForeArm" /> + <child link="LElbowRoll_milky" /> + </joint> + <joint name="LWristYaw" type="revolute"> + <origin xyz="0.15 0 0" /> + <parent link="LForeArm" /> + <child link="l_wrist" /> + <axis xyz="1 0 0" /> + <limit lower="-1.82387" upper="1.82387" effort="1000" velocity="1000" /> + </joint> + <joint name="LHand" type="revolute"> + <origin xyz="0.025 0 0" /> + <parent link="l_wrist" /> + <child link="l_gripper" /> + <axis xyz="1 0 0" /> + <limit lower="0.02" upper="0.98" effort="1000" velocity="1000" /> + </joint> + <joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed"> + <origin rpy="0 4.712389 -1.570786" xyz="0.0523 0 0.0304" /> + <parent link="l_wrist" /> + <child link="LHandTouchBack_frame" /> + </joint> + <joint name="LFinger21" type="revolute"> + <origin rpy="-4.712385 1.0472 -0.061086" xyz="0.0873 -0.0073 0.006" /> + <parent link="l_wrist" /> + <child link="LFinger21_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger22" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger21_link" /> + <child link="LFinger22_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger23" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger22_link" /> + <child link="LFinger23_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger11" type="revolute"> + <origin rpy="-4.539165 1.04064 -0.033433" xyz="0.0821 -0.0268 0.004" /> + <parent link="l_wrist" /> + <child link="LFinger11_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger12" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger11_link" /> + <child link="LFinger12_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger13" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger12_link" /> + <child link="LFinger13_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger41" type="revolute"> + <origin rpy="-4.885615 1.04064 -6.214846" xyz="0.074 0.0309 0" /> + <parent link="l_wrist" /> + <child link="LFinger41_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger42" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger41_link" /> + <child link="LFinger42_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger43" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger42_link" /> + <child link="LFinger43_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger31" type="revolute"> + <origin rpy="-4.816825 1.04483 -0.029314" xyz="0.0833 0.0123 0.004" /> + <parent link="l_wrist" /> + <child link="LFinger31_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger32" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger31_link" /> + <child link="LFinger32_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LFinger33" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="LFinger32_link" /> + <child link="LFinger33_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LThumb1" type="revolute"> + <origin rpy="-2.55836 0.80626 -5.749207" xyz="0.0482 -0.0357 -0.0199" /> + <parent link="l_wrist" /> + <child link="LThumb1_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="LThumb2" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.022 0 0" /> + <parent link="LThumb1_link" /> + <child link="LThumb2_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RShoulderPitch" type="revolute"> + <origin xyz="-0.057 -0.14974 0.22582" /> + <parent link="torso" /> + <child link="RShoulder" /> + <axis xyz="0 1 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="RShoulderRoll" type="revolute"> + <parent link="RShoulder" /> + <child link="RBicep" /> + <axis xyz="0 0 1" /> + <limit lower="-1.56207" upper="-0.008727" effort="1000" velocity="1000" /> + </joint> + <joint name="RShoulderRoll_shiny_joint" type="fixed"> + <parent link="RBicep" /> + <child link="RShoulderRoll_shiny" /> + </joint> + <joint name="RElbowYaw" type="revolute"> + <origin rpy="0 6.126106 0" xyz="0.1812 -0.015 0.00013" /> + <parent link="RBicep" /> + <child link="RElbow" /> + <axis xyz="1 0 0" /> + <limit lower="-2.08567" upper="2.08567" effort="1000" velocity="1000" /> + </joint> + <joint name="RElbowRoll" type="revolute"> + <parent link="RElbow" /> + <child link="RForeArm" /> + <axis xyz="0 0 1" /> + <limit lower="0.008727" upper="1.56207" effort="1000" velocity="1000" /> + </joint> + <joint name="RElbowRoll_milky_joint" type="fixed"> + <parent link="RForeArm" /> + <child link="RElbowRoll_milky" /> + </joint> + <joint name="RWristYaw" type="revolute"> + <origin xyz="0.15 0 0" /> + <parent link="RForeArm" /> + <child link="r_wrist" /> + <axis xyz="1 0 0" /> + <limit lower="-1.82387" upper="1.82387" effort="1000" velocity="1000" /> + </joint> + <joint name="RHand" type="revolute"> + <origin xyz="0.025 0 0" /> + <parent link="r_wrist" /> + <child link="r_gripper" /> + <axis xyz="1 0 0" /> + <limit lower="0.02" upper="0.98" effort="1000" velocity="1000" /> + </joint> + <joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed"> + <origin rpy="0 4.712389 -1.570786" xyz="0.0523 0 0.0304" /> + <parent link="r_wrist" /> + <child link="RHandTouchBack_frame" /> + </joint> + <joint name="RFinger41" type="revolute"> + <origin rpy="-4.539165 1.04064 -0.06834" xyz="0.074 -0.0309 0" /> + <parent link="r_wrist" /> + <child link="RFinger41_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger42" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger41_link" /> + <child link="RFinger42_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger43" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger42_link" /> + <child link="RFinger43_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger31" type="revolute"> + <origin rpy="-4.607955 1.04483 -6.253869" xyz="0.0833 -0.0123 0.004" /> + <parent link="r_wrist" /> + <child link="RFinger31_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger32" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger31_link" /> + <child link="RFinger32_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger33" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger32_link" /> + <child link="RFinger33_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger21" type="revolute"> + <origin rpy="-4.712386 1.0472 -6.222099" xyz="0.0873 0.0073 0.006" /> + <parent link="r_wrist" /> + <child link="RFinger21_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger22" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger21_link" /> + <child link="RFinger22_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger23" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger22_link" /> + <child link="RFinger23_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger11" type="revolute"> + <origin rpy="-4.885615 1.04064 -6.249752" xyz="0.0821 0.0268 0.004" /> + <parent link="r_wrist" /> + <child link="RFinger11_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger12" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger11_link" /> + <child link="RFinger12_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RFinger13" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.018 0 0" /> + <parent link="RFinger12_link" /> + <child link="RFinger13_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RThumb1" type="revolute"> + <origin rpy="-0.58323 0.80626 -0.533978" xyz="0.0482 0.0357 -0.0199" /> + <parent link="r_wrist" /> + <child link="RThumb1_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="RThumb2" type="revolute"> + <origin rpy="0 0 -1.0472" xyz="0.022 0 0" /> + <parent link="RThumb1_link" /> + <child link="RThumb2_link" /> + <axis xyz="0 0 1" /> + <limit lower="0" upper="0.872665" effort="1000" velocity="1000" /> + </joint> + <joint name="Accelerometer_sensor_fixedjoint" type="fixed"> + <origin xyz="0.00239 -0.03575 0.14526" /> + <parent link="torso" /> + <child link="ImuTorsoAccelerometer_frame" /> + </joint> + <joint name="Gyrometer_sensor_fixedjoint" type="fixed"> + <origin xyz="0.00204 -0.03491 0.12941" /> + <parent link="torso" /> + <child link="ImuTorsoGyrometer_frame" /> + </joint> + <joint name="Tablet_sensor_fixedjoint" type="fixed"> + <origin rpy="0 5.759586 0" xyz="0.083925 0 0.20151" /> + <parent link="torso" /> + <child link="Tablet_frame" /> + </joint> + <joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed"> + <origin xyz="0.049871 0.001588 0.194163" /> + <parent link="torso" /> + <child link="ChestButton_frame" /> + </joint> + <joint name="HipPitch_shiny_joint" type="fixed"> + <parent link="Pelvis" /> + <child link="HipPitch_shiny" /> + </joint> + <joint name="KneePitch_milky_joint" type="fixed"> + <parent link="Tibia" /> + <child link="KneePitch_milky" /> + </joint> + <joint name="Sonar/Back_sensor_fixedjoint" type="fixed"> + <origin rpy="0 6.073747 -3.14159" xyz="-0.0718 0 -0.0534" /> + <parent link="Tibia" /> + <child link="SonarBack_frame" /> + </joint> + <joint name="LaserSensor/VerticalLeft_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="VerticalLeftLaser_frame" /> + </joint> + <joint name="LaserSensor/Front_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="SurroundingFrontLaser_device_frame" /> + </joint> + <joint name="Bumper/Back_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0 -3.14159" xyz="-0.251 0 -0.264" /> + <parent link="Tibia" /> + <child link="BumperB_frame" /> + </joint> + <joint name="LaserSensor/Left_projected_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0 -4.525905" xyz="-0.018 0.0899 -0.334" /> + <parent link="Tibia" /> + <child link="SurroundingLeftLaser_frame" /> + </joint> + <joint name="LaserSensor/Shovel_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="ShovelLaser_frame" /> + </joint> + <joint name="LaserSensor/Right_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0.349066 -1.5708" xyz="-0.018 -0.0899 -0.0759" /> + <parent link="Tibia" /> + <child link="SurroundingRightLaser_device_frame" /> + </joint> + <joint name="LaserSensor/Left_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0.349066 -4.712386" xyz="-0.018 0.0899 -0.0759" /> + <parent link="Tibia" /> + <child link="SurroundingLeftLaser_device_frame" /> + </joint> + <joint name="LaserSensor/Right_projected_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0 -1.75728" xyz="-0.018 -0.0899 -0.334" /> + <parent link="Tibia" /> + <child link="SurroundingRightLaser_frame" /> + </joint> + <joint name="LaserSensor/VerticalRight_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0.349066 0" xyz="0.0562 0 -0.0692" /> + <parent link="Tibia" /> + <child link="VerticalRightLaser_frame" /> + </joint> + <joint name="Sonar/Front_sensor_fixedjoint" type="fixed"> + <origin rpy="0 5.960327 0" xyz="0.0699 0 -0.1023" /> + <parent link="Tibia" /> + <child link="SonarFront_frame" /> + </joint> + <joint name="Bumper/FrontLeft_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0 -5.794325" xyz="0.129 0.227 -0.264" /> + <parent link="Tibia" /> + <child link="BumperFL_frame" /> + </joint> + <joint name="AccelerometerBase_sensor_fixedjoint" type="fixed"> + <origin xyz="0.0147 -0.0017 -0.26319" /> + <parent link="Tibia" /> + <child link="ImuBaseAccelerometer_frame" /> + </joint> + <joint name="Bumper/FrontRight_sensor_fixedjoint" type="fixed"> + <origin rpy="0 0 -0.48886" xyz="0.129 -0.227 -0.264" /> + <parent link="Tibia" /> + <child link="BumperFR_frame" /> + </joint> + <joint name="LaserSensor/Front_projected_sensor_fixedjoint" type="fixed"> + <origin xyz="0.0562 0 -0.334" /> + <parent link="Tibia" /> + <child link="SurroundingFrontLaser_frame" /> + </joint> + <joint name="WheelFL" type="continuous"> + <origin rpy="0 0 -5.208015" xyz="0.09 0.155 -0.264" /> + <parent link="Tibia" /> + <child link="WheelFL_link" /> + <axis xyz="1 0 0" /> + </joint> + <joint name="WheelB" type="continuous"> + <origin rpy="0 0 -3.14159" xyz="-0.17 0 -0.264" /> + <parent link="Tibia" /> + <child link="WheelB_link" /> + <axis xyz="1 0 0" /> + </joint> + <joint name="WheelFR" type="continuous"> + <origin rpy="0 0 -1.07517" xyz="0.09 -0.155 -0.264" /> + <parent link="Tibia" /> + <child link="WheelFR_link" /> + <axis xyz="1 0 0" /> + </joint> + <joint name="sick_laser_rear" type="fixed"> + <origin rpy="0 0 -3.141593" xyz="-0.245 0 -0.1" /> + <parent link="Tibia" /> + <child link="sick_laser_rear" /> + </joint> + <joint name="sick_laser_front" type="fixed"> + <origin xyz="0.245 0 -0.1" /> + <parent link="Tibia" /> + <child link="sick_laser_front" /> + </joint> + <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> +<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> \ No newline at end of file diff --git a/crowdbotsim/meshes/HeadPitch_0.10.stl b/crowdbotsim/meshes/HeadPitch_0.10.stl index 1a8d3f5988b918d40f8739892bf78902ee01a234..3bc2e3cd52a3e8636ec83619e2537f4f35ba94aa 100644 Binary files a/crowdbotsim/meshes/HeadPitch_0.10.stl and b/crowdbotsim/meshes/HeadPitch_0.10.stl differ diff --git a/crowdbotsim/meshes/HeadPitch_ears.stl b/crowdbotsim/meshes/HeadPitch_ears.stl new file mode 100644 index 0000000000000000000000000000000000000000..dbd2509d7ea26ebdf61c95bfd87813262db72fc9 Binary files /dev/null and b/crowdbotsim/meshes/HeadPitch_ears.stl differ diff --git a/crowdbotsim/meshes/HeadPitch_eyes.stl b/crowdbotsim/meshes/HeadPitch_eyes.stl new file mode 100644 index 0000000000000000000000000000000000000000..0b009727c94ad52aa03130edda816440f5c60e83 Binary files /dev/null and b/crowdbotsim/meshes/HeadPitch_eyes.stl differ diff --git a/crowdbotsim/meshes/HeadPitch_milky.stl b/crowdbotsim/meshes/HeadPitch_milky.stl new file mode 100644 index 0000000000000000000000000000000000000000..0ac5477d96c20a214c73317f9b914840cc229241 Binary files /dev/null and b/crowdbotsim/meshes/HeadPitch_milky.stl differ diff --git a/crowdbotsim/meshes/HeadPitch_shiny.stl b/crowdbotsim/meshes/HeadPitch_shiny.stl new file mode 100644 index 0000000000000000000000000000000000000000..57db3ed771fd60c33734c18719731b9ef408aee8 Binary files /dev/null and b/crowdbotsim/meshes/HeadPitch_shiny.stl differ diff --git a/crowdbotsim/meshes/HeadYaw.stl b/crowdbotsim/meshes/HeadYaw.stl index 2962347304a7cca6d37ecee1a39e8972b6663163..7d8313b6b0e773f5581198cc866aae3b0161d827 100644 Binary files a/crowdbotsim/meshes/HeadYaw.stl and b/crowdbotsim/meshes/HeadYaw.stl differ diff --git a/crowdbotsim/meshes/HeadYaw_0.10.stl b/crowdbotsim/meshes/HeadYaw_0.10.stl index 1d3ade37044f4be00c47c96269b4b6fa557fa7b0..a76e7f1e9d185c2044ddf10d483928faecf04723 100644 Binary files a/crowdbotsim/meshes/HeadYaw_0.10.stl and b/crowdbotsim/meshes/HeadYaw_0.10.stl differ diff --git a/crowdbotsim/meshes/HipPitch_0.10.stl b/crowdbotsim/meshes/HipPitch_0.10.stl index e641286e8f4f78812b37296c206cf4dbf03c7236..d2a962e3880c56e5be840cc83dd1660d6270a06e 100644 Binary files a/crowdbotsim/meshes/HipPitch_0.10.stl and b/crowdbotsim/meshes/HipPitch_0.10.stl differ diff 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0000000000000000000000000000000000000000..bf575a2fe4722e159ad38106ad0974ea0470e2bb --- /dev/null +++ b/crowdbotsim/tmp.txt @@ -0,0 +1,975 @@ +"<?xml version=\"1.0\" encoding=\"utf-8\"?>\n<robot name=\"JulietteY20MP_crowdbotsim\"\ + >\n <material name=\"defaultMat\">\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n\ + \ <material name=\"PepperWhiteBright\">\n <color rgba=\"1 1 1 1\" />\n </material>\n\ + \ <material name=\"HipRoll_GROUPE_01_JULIETT.000Mat\">\n <color rgba=\"0.8 0.8\ + \ 0.8 1\" />\n </material>\n <material name=\"HeadYaw_JULIETTE_TETE_GROUPE_Mat\"\ + >\n <color rgba=\"0.8 0.8 0.8 1\" />\n </material>\n <material name=\"PepperBlackMat\"\ + >\n <color rgba=\"0.1471 0.1471 0.1471 1\" />\n </material>\n <material name=\"\ + PepperBlueMat\">\n <color rgba=\"0.2564 0.3478 0.6838 1\" />\n </material>\n\ + \ <material name=\"logoCB2\">\n <texture filename=\"package://resources/logoCB.png\"\ + \ />\n </material>\n <material name=\"LShoulderPitch_JULIETTE_BRAS_DR_.001Mat\"\ + 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RFinger41_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger41.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger41_JULIETTE_AV_BRAS_.099Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger41.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger42_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger42.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger42_JULIETTE_AV_BRAS_.100Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger42.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger43_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger43.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger43_JULIETTE_AV_BRAS_.101Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger43.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger31_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger31.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger31_JULIETTE_AV_BRAS_.096Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger31.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger32_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger32.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger32_JULIETTE_AV_BRAS_.097Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger32.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger33_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger33.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger33_JULIETTE_AV_BRAS_.098Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger33.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger21_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger21.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger21_JULIETTE_AV_BRAS_.093Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger21.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger22_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger22.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger22_JULIETTE_AV_BRAS_.094Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger22.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger23_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger23.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger23_JULIETTE_AV_BRAS_.095Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger23.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger11_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger11.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger11_JULIETTE_AV_BRAS_.090Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger11.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger12_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger12.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger12_JULIETTE_AV_BRAS_.091Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger12.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RFinger13_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RFinger13.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RFinger13_JULIETTE_AV_BRAS_.092Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RFinger13.stl\" scale=\"\ + 0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RThumb1_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RThumb1.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RThumb1_JULIETTE_AV_BRAS_.088Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RThumb1.stl\" scale=\"0.1\ + \ 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + RThumb2_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.0020000001\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <origin\ + \ rpy=\"-1.57 0 0\" />\n <geometry>\n <mesh filename=\"package://meshes/RThumb2.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"RThumb2_JULIETTE_AV_BRAS_.089Mat\"\ + \ />\n </visual>\n <collision>\n <origin rpy=\"-1.57 0 0\" />\n \ + \ <geometry>\n <mesh filename=\"package://meshes/RThumb2.stl\" scale=\"0.1\ + \ 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link name=\"\ + ImuTorsoAccelerometer_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\ + 0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"\ + ImuTorsoGyrometer_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0\ + \ 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"\ + Tablet_frame\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"\ + 1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n </link>\n <link name=\"ChestButton_frame\"\ + >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"HipPitch_shiny\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0.268\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n <visual>\n <origin xyz=\"0 0 0.268\" />\n <geometry>\n\ + \ <mesh filename=\"package://meshes/HipPitch_shiny.stl\" scale=\"0.1 0.1\ + \ 0.1\" />\n </geometry>\n <material name=\"defaultMat\" />\n </visual>\n\ + \ </link>\n <link name=\"KneePitch_milky\">\n <inertial>\n <origin rpy=\"\ + 0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n <inertia ixx=\"\ + 1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n\ + \ <geometry>\n <mesh filename=\"package://meshes/KneePitch_milky.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"PepperWhiteBright\"\ + \ />\n </visual>\n </link>\n <link name=\"SonarBack_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"VerticalLeftLaser_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"SurroundingFrontLaser_device_frame\"\ + >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"BumperB_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"SurroundingLeftLaser_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"ShovelLaser_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"SurroundingRightLaser_device_frame\"\ + >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"SurroundingLeftLaser_device_frame\"\ + >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"SurroundingRightLaser_frame\"\ + >\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"VerticalRightLaser_frame\">\n\ + \ <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"SonarFront_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"BumperFL_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"ImuBaseAccelerometer_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"BumperFR_frame\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1E-07\" />\n\ + \ <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n\ + \ </inertial>\n </link>\n <link name=\"SurroundingFrontLaser_frame\">\n \ + \ <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"\ + 1E-07\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"\ + 1\" />\n </inertial>\n </link>\n <link name=\"WheelFL_link\">\n <inertial>\n\ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1.5802799463\"\ + \ />\n <inertia ixx=\"0.00296489312313497\" ixy=\"5.12017209075566E-07\" ixz=\"\ + 8.84578668092217E-08\" iyy=\"0.00299945333972573\" iyz=\"5.60776925340178E-06\"\ + \ izz=\"0.00303135369904339\" />\n </inertial>\n <visual>\n <geometry>\n\ + \ <mesh filename=\"package://meshes/WheelFL.stl\" scale=\"0.1 0.1 0.1\" />\n\ + \ </geometry>\n <material name=\"WheelFL_GROUPE_01_JULIETT.003Mat\" />\n\ + \ </visual>\n <collision>\n <geometry>\n <mesh filename=\"package://meshes/WheelFL_0.10.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\ + \ name=\"WheelB_link\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\ + \ />\n <mass value=\"1.5802799463\" />\n <inertia ixx=\"0.00296489312313497\"\ + \ ixy=\"5.12017209075566E-07\" ixz=\"8.84578668092217E-08\" iyy=\"0.00299945333972573\"\ + \ iyz=\"5.60776925340178E-06\" izz=\"0.00303135369904339\" />\n </inertial>\n\ + \ <visual>\n <geometry>\n <mesh filename=\"package://meshes/WheelB.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n <material name=\"WheelB_GROUPE_01_JULIETT.004Mat\"\ + \ />\n </visual>\n <collision>\n <geometry>\n <mesh filename=\"\ + package://meshes/WheelB_0.10.stl\" scale=\"0.1 0.1 0.1\" />\n </geometry>\n\ + \ </collision>\n </link>\n <link name=\"WheelFR_link\">\n <inertial>\n \ + \ <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n <mass value=\"1.5802799463\"\ + \ />\n <inertia ixx=\"0.00296489312313497\" ixy=\"5.12017209075566E-07\" ixz=\"\ + 8.84578668092217E-08\" iyy=\"0.00299945333972573\" iyz=\"5.60776925340178E-06\"\ + \ izz=\"0.00303135369904339\" />\n </inertial>\n <visual>\n <geometry>\n\ + \ <mesh filename=\"package://meshes/WheelFR.stl\" scale=\"0.1 0.1 0.1\" />\n\ + \ </geometry>\n <material name=\"WheelFR_GROUPE_01_JULIETT.002Mat\" />\n\ + \ </visual>\n <collision>\n <geometry>\n <mesh filename=\"package://meshes/WheelFR_0.10.stl\"\ + \ scale=\"0.1 0.1 0.1\" />\n </geometry>\n </collision>\n </link>\n <link\ + \ name=\"sick_laser_rear\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"\ + 0 0 0\" />\n <mass value=\"0.1000000015\" />\n <inertia ixx=\"1\" ixy=\"\ + 0\" ixz=\"0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n\ + \ <geometry>\n <box size=\"0.05 0.05 0.05\" />\n </geometry>\n\ + \ <material name=\"PepperBlackMat\" />\n </visual>\n </link>\n <link name=\"\ + sick_laser_front\">\n <inertial>\n <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n\ + \ <mass value=\"0.1000000015\" />\n <inertia ixx=\"1\" ixy=\"0\" ixz=\"\ + 0\" iyy=\"1\" iyz=\"0\" izz=\"1\" />\n </inertial>\n <visual>\n <geometry>\n\ + \ <box size=\"0.05 0.05 0.05\" />\n </geometry>\n <material name=\"\ + PepperBlackMat\" />\n </visual>\n </link>\n <joint name=\"base_link_joint\"\ + \ type=\"fixed\">\n <parent link=\"base_link\" />\n <child link=\"base_footprint\"\ + \ />\n </joint>\n <joint name=\"base_footprint_joint\" type=\"fixed\">\n <origin\ + \ xyz=\"0 0 0.334\" />\n <parent link=\"base_footprint\" />\n <child link=\"\ + Tibia\" />\n </joint>\n <joint name=\"KneePitch\" type=\"revolute\">\n <parent\ + \ link=\"Tibia\" />\n <child link=\"Pelvis\" />\n <axis xyz=\"0 -1 0\" />\n\ + \ <limit lower=\"-0.514872\" upper=\"0.514872\" effort=\"1000\" velocity=\"1000\"\ + \ />\n </joint>\n <joint name=\"HipPitch\" type=\"revolute\">\n <origin xyz=\"\ + 0 0 0.268\" />\n <parent link=\"Pelvis\" />\n <child link=\"Hip\" />\n \ + \ <axis xyz=\"0 -1 0\" />\n <limit lower=\"-1.03847\" upper=\"1.03847\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"HipRoll\" type=\"revolute\"\ + >\n <origin xyz=\"-2E-05 0 0.079\" />\n <parent link=\"Hip\" />\n <child\ + \ link=\"torso\" />\n <axis xyz=\"-1 0 0\" />\n <limit lower=\"-0.514872\"\ + \ upper=\"0.514872\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint\ + \ name=\"HeadYaw\" type=\"revolute\">\n <origin xyz=\"-0.038 0 0.3089\" />\n\ + \ <parent link=\"torso\" />\n <child link=\"Neck\" />\n <axis xyz=\"0 0\ + \ 1\" />\n <limit lower=\"-2.08567\" upper=\"2.08567\" effort=\"1000\" velocity=\"\ + 1000\" />\n </joint>\n <joint name=\"HeadPitch\" type=\"revolute\">\n <parent\ + \ link=\"Neck\" />\n <child link=\"Head\" />\n <axis xyz=\"0 1 0\" />\n \ + \ <limit lower=\"-0.706858\" upper=\"0.637045\" effort=\"1000\" velocity=\"1000\"\ + \ />\n </joint>\n <joint name=\"HeadPitch_milky_joint\" type=\"fixed\">\n <parent\ + \ link=\"Head\" />\n <child link=\"HeadPitch_milky\" />\n </joint>\n <joint\ + \ name=\"HeadPitch_ears_joint\" type=\"fixed\">\n <parent link=\"Head\" />\n\ + \ <child link=\"HeadPitch_ears\" />\n </joint>\n <joint name=\"HeadPitch_shiny_joint\"\ + \ type=\"fixed\">\n <parent link=\"Head\" />\n <child link=\"HeadPitch_shiny\"\ + \ />\n </joint>\n <joint name=\"SpeakerRight_sensor_fixedjoint\" type=\"fixed\"\ + >\n <parent link=\"Head\" />\n <child link=\"RSpeaker_frame\" />\n </joint>\n\ + \ <joint name=\"SpeakerLeft_sensor_fixedjoint\" type=\"fixed\">\n <parent link=\"\ + Head\" />\n <child link=\"LSpeaker_frame\" />\n </joint>\n <joint name=\"CameraTop_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin xyz=\"0.08601 0 0.16284\" />\n <parent link=\"\ + Head\" />\n <child link=\"CameraTop_frame\" />\n </joint>\n <joint name=\"\ + CameraTop_optical_frame_fixedjoint\" type=\"fixed\">\n <origin rpy=\"-1.570796\ + \ 0 -1.570796\" />\n <parent link=\"CameraTop_frame\" />\n <child link=\"\ + CameraTop_optical_frame\" />\n </joint>\n <joint name=\"CameraDepth_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin xyz=\"0.05138 0.039 0.1194\" />\n <parent link=\"\ + Head\" />\n <child link=\"CameraDepth_frame\" />\n </joint>\n <joint name=\"\ + CameraDepth_optical_frame_fixedjoint\" type=\"fixed\">\n <origin rpy=\"-1.570796\ + \ 0 -1.570796\" />\n <parent link=\"CameraDepth_frame\" />\n <child link=\"\ + CameraDepth_optical_frame\" />\n </joint>\n <joint name=\"Head/Touch/Front_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin rpy=\"0 0.20944 0\" xyz=\"0.028175 0 0.21267\" />\n\ + \ <parent link=\"Head\" />\n <child link=\"HeadTouchFront_frame\" />\n </joint>\n\ + \ <joint name=\"CameraBottom_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\ + 0 0.698132 0\" xyz=\"0.09262 0 0.06177\" />\n <parent link=\"Head\" />\n <child\ + \ link=\"CameraBottom_frame\" />\n </joint>\n <joint name=\"CameraBottom_optical_frame_fixedjoint\"\ + \ type=\"fixed\">\n <origin rpy=\"-1.570796 0 -1.570796\" />\n <parent link=\"\ + CameraBottom_frame\" />\n <child link=\"CameraBottom_optical_frame\" />\n </joint>\n\ + \ <joint name=\"Head/Touch/Rear_sensor_fixedjoint\" type=\"fixed\">\n <origin\ + \ rpy=\"0 5.969026 0\" xyz=\"-0.03376 0 0.21052\" />\n <parent link=\"Head\"\ + \ />\n <child link=\"HeadTouchRear_frame\" />\n </joint>\n <joint name=\"Head/Touch/Middle_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin rpy=\"0 6.248279 0\" xyz=\"0.0041 0 0.2159\" />\n\ + \ <parent link=\"Head\" />\n <child link=\"HeadTouchMiddle_frame\" />\n </joint>\n\ + \ <joint name=\"Torso_shiny_joint\" type=\"fixed\">\n <origin xyz=\"0 0 0.0695\"\ + \ />\n <parent link=\"torso\" />\n <child link=\"Torso_shiny\" />\n </joint>\n\ + \ <joint name=\"Torso_transparent_joint\" type=\"fixed\">\n <origin xyz=\"0\ + \ 0 0.0695\" />\n <parent link=\"torso\" />\n <child link=\"Torso_transparent\"\ + \ />\n </joint>\n <joint name=\"LShoulderPitch\" type=\"revolute\">\n <origin\ + \ xyz=\"-0.057 0.14974 0.22582\" />\n <parent link=\"torso\" />\n <child link=\"\ + LShoulder\" />\n <axis xyz=\"0 1 0\" />\n <limit lower=\"-2.08567\" upper=\"\ + 2.08567\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LShoulderRoll\"\ + \ type=\"revolute\">\n <parent link=\"LShoulder\" />\n <child link=\"LBicep\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0.008727\" upper=\"1.56207\"\ + \ effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LShoulderRoll_shiny_joint\"\ + \ type=\"fixed\">\n <parent link=\"LBicep\" />\n <child link=\"LShoulderRoll_shiny\"\ + \ />\n </joint>\n <joint name=\"LElbowYaw\" type=\"revolute\">\n <origin rpy=\"\ + 0 6.126106 0\" xyz=\"0.1812 0.015 0.00013\" />\n <parent link=\"LBicep\" />\n\ + \ <child link=\"LElbow\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\ + -2.08567\" upper=\"2.08567\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"LElbowRoll\" type=\"revolute\">\n <parent link=\"LElbow\" />\n\ + \ <child link=\"LForeArm\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"\ + -1.56207\" upper=\"-0.008727\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"LElbowRoll_milky_joint\" type=\"fixed\">\n <parent link=\"LForeArm\"\ + \ />\n <child link=\"LElbowRoll_milky\" />\n </joint>\n <joint name=\"LWristYaw\"\ + \ type=\"revolute\">\n <origin xyz=\"0.15 0 0\" />\n <parent link=\"LForeArm\"\ + \ />\n <child link=\"l_wrist\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\ + -1.82387\" upper=\"1.82387\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"LHand\" type=\"revolute\">\n <origin xyz=\"0.025 0 0\" />\n\ + \ <parent link=\"l_wrist\" />\n <child link=\"l_gripper\" />\n <axis xyz=\"\ + 1 0 0\" />\n <limit lower=\"0.02\" upper=\"0.98\" effort=\"1000\" velocity=\"\ + 1000\" />\n </joint>\n <joint name=\"LHand/Touch/Back_sensor_fixedjoint\" type=\"\ + fixed\">\n <origin rpy=\"0 4.712389 -1.570786\" xyz=\"0.0523 0 0.0304\" />\n\ + \ <parent link=\"l_wrist\" />\n <child link=\"LHandTouchBack_frame\" />\n\ + \ </joint>\n <joint name=\"LFinger21\" type=\"revolute\">\n <origin rpy=\"\ + -4.712385 1.0472 -0.061086\" xyz=\"0.0873 -0.0073 0.006\" />\n <parent link=\"\ + l_wrist\" />\n <child link=\"LFinger21_link\" />\n <axis xyz=\"0 0 1\" />\n\ + \ <limit lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n\ + \ </joint>\n <joint name=\"LFinger22\" type=\"revolute\">\n <origin rpy=\"\ + 0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger21_link\" />\n \ + \ <child link=\"LFinger22_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"\ + 0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint\ + \ name=\"LFinger23\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\" xyz=\"\ + 0.018 0 0\" />\n <parent link=\"LFinger22_link\" />\n <child link=\"LFinger23_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger11\" type=\"revolute\"\ + >\n <origin rpy=\"-4.539165 1.04064 -0.033433\" xyz=\"0.0821 -0.0268 0.004\"\ + \ />\n <parent link=\"l_wrist\" />\n <child link=\"LFinger11_link\" />\n \ + \ <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger12\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger11_link\"\ + \ />\n <child link=\"LFinger12_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"LFinger13\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"LFinger12_link\" />\n <child link=\"\ + LFinger13_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger41\"\ + \ type=\"revolute\">\n <origin rpy=\"-4.885615 1.04064 -6.214846\" xyz=\"0.074\ + \ 0.0309 0\" />\n <parent link=\"l_wrist\" />\n <child link=\"LFinger41_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger42\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger41_link\"\ + \ />\n <child link=\"LFinger42_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"LFinger43\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"LFinger42_link\" />\n <child link=\"\ + LFinger43_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger31\"\ + \ type=\"revolute\">\n <origin rpy=\"-4.816825 1.04483 -0.029314\" xyz=\"0.0833\ + \ 0.0123 0.004\" />\n <parent link=\"l_wrist\" />\n <child link=\"LFinger31_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LFinger32\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"LFinger31_link\"\ + \ />\n <child link=\"LFinger32_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"LFinger33\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"LFinger32_link\" />\n <child link=\"\ + LFinger33_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LThumb1\"\ + \ type=\"revolute\">\n <origin rpy=\"-2.55836 0.80626 -5.749207\" xyz=\"0.0482\ + \ -0.0357 -0.0199\" />\n <parent link=\"l_wrist\" />\n <child link=\"LThumb1_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"LThumb2\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.022 0 0\" />\n <parent link=\"LThumb1_link\"\ + \ />\n <child link=\"LThumb2_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RShoulderPitch\" type=\"revolute\">\n <origin xyz=\"-0.057 -0.14974\ + \ 0.22582\" />\n <parent link=\"torso\" />\n <child link=\"RShoulder\" />\n\ + \ <axis xyz=\"0 1 0\" />\n <limit lower=\"-2.08567\" upper=\"2.08567\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RShoulderRoll\" type=\"\ + revolute\">\n <parent link=\"RShoulder\" />\n <child link=\"RBicep\" />\n\ + \ <axis xyz=\"0 0 1\" />\n <limit lower=\"-1.56207\" upper=\"-0.008727\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RShoulderRoll_shiny_joint\"\ + \ type=\"fixed\">\n <parent link=\"RBicep\" />\n <child link=\"RShoulderRoll_shiny\"\ + \ />\n </joint>\n <joint name=\"RElbowYaw\" type=\"revolute\">\n <origin rpy=\"\ + 0 6.126106 0\" xyz=\"0.1812 -0.015 0.00013\" />\n <parent link=\"RBicep\" />\n\ + \ <child link=\"RElbow\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\ + -2.08567\" upper=\"2.08567\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RElbowRoll\" type=\"revolute\">\n <parent link=\"RElbow\" />\n\ + \ <child link=\"RForeArm\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"\ + 0.008727\" upper=\"1.56207\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RElbowRoll_milky_joint\" type=\"fixed\">\n <parent link=\"RForeArm\"\ + \ />\n <child link=\"RElbowRoll_milky\" />\n </joint>\n <joint name=\"RWristYaw\"\ + \ type=\"revolute\">\n <origin xyz=\"0.15 0 0\" />\n <parent link=\"RForeArm\"\ + \ />\n <child link=\"r_wrist\" />\n <axis xyz=\"1 0 0\" />\n <limit lower=\"\ + -1.82387\" upper=\"1.82387\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RHand\" type=\"revolute\">\n <origin xyz=\"0.025 0 0\" />\n\ + \ <parent link=\"r_wrist\" />\n <child link=\"r_gripper\" />\n <axis xyz=\"\ + 1 0 0\" />\n <limit lower=\"0.02\" upper=\"0.98\" effort=\"1000\" velocity=\"\ + 1000\" />\n </joint>\n <joint name=\"RHand/Touch/Back_sensor_fixedjoint\" type=\"\ + fixed\">\n <origin rpy=\"0 4.712389 -1.570786\" xyz=\"0.0523 0 0.0304\" />\n\ + \ <parent link=\"r_wrist\" />\n <child link=\"RHandTouchBack_frame\" />\n\ + \ </joint>\n <joint name=\"RFinger41\" type=\"revolute\">\n <origin rpy=\"\ + -4.539165 1.04064 -0.06834\" xyz=\"0.074 -0.0309 0\" />\n <parent link=\"r_wrist\"\ + \ />\n <child link=\"RFinger41_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RFinger42\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger41_link\" />\n <child link=\"\ + RFinger42_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger43\"\ + \ type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n \ + \ <parent link=\"RFinger42_link\" />\n <child link=\"RFinger43_link\" />\n \ + \ <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"1000\"\ + \ velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger31\" type=\"revolute\"\ + >\n <origin rpy=\"-4.607955 1.04483 -6.253869\" xyz=\"0.0833 -0.0123 0.004\"\ + \ />\n <parent link=\"r_wrist\" />\n <child link=\"RFinger31_link\" />\n \ + \ <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger32\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"RFinger31_link\"\ + \ />\n <child link=\"RFinger32_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RFinger33\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger32_link\" />\n <child link=\"\ + RFinger33_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger21\"\ + \ type=\"revolute\">\n <origin rpy=\"-4.712386 1.0472 -6.222099\" xyz=\"0.0873\ + \ 0.0073 0.006\" />\n <parent link=\"r_wrist\" />\n <child link=\"RFinger21_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger22\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"RFinger21_link\"\ + \ />\n <child link=\"RFinger22_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RFinger23\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger22_link\" />\n <child link=\"\ + RFinger23_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger11\"\ + \ type=\"revolute\">\n <origin rpy=\"-4.885615 1.04064 -6.249752\" xyz=\"0.0821\ + \ 0.0268 0.004\" />\n <parent link=\"r_wrist\" />\n <child link=\"RFinger11_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RFinger12\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.018 0 0\" />\n <parent link=\"RFinger11_link\"\ + \ />\n <child link=\"RFinger12_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"RFinger13\" type=\"revolute\">\n <origin rpy=\"0 0 -1.0472\"\ + \ xyz=\"0.018 0 0\" />\n <parent link=\"RFinger12_link\" />\n <child link=\"\ + RFinger13_link\" />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"\ + 0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RThumb1\"\ + \ type=\"revolute\">\n <origin rpy=\"-0.58323 0.80626 -0.533978\" xyz=\"0.0482\ + \ 0.0357 -0.0199\" />\n <parent link=\"r_wrist\" />\n <child link=\"RThumb1_link\"\ + \ />\n <axis xyz=\"0 0 1\" />\n <limit lower=\"0\" upper=\"0.872665\" effort=\"\ + 1000\" velocity=\"1000\" />\n </joint>\n <joint name=\"RThumb2\" type=\"revolute\"\ + >\n <origin rpy=\"0 0 -1.0472\" xyz=\"0.022 0 0\" />\n <parent link=\"RThumb1_link\"\ + \ />\n <child link=\"RThumb2_link\" />\n <axis xyz=\"0 0 1\" />\n <limit\ + \ lower=\"0\" upper=\"0.872665\" effort=\"1000\" velocity=\"1000\" />\n </joint>\n\ + \ <joint name=\"Accelerometer_sensor_fixedjoint\" type=\"fixed\">\n <origin\ + \ xyz=\"0.00239 -0.03575 0.14526\" />\n <parent link=\"torso\" />\n <child\ + \ link=\"ImuTorsoAccelerometer_frame\" />\n </joint>\n <joint name=\"Gyrometer_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin xyz=\"0.00204 -0.03491 0.12941\" />\n <parent\ + \ link=\"torso\" />\n <child link=\"ImuTorsoGyrometer_frame\" />\n </joint>\n\ + \ <joint name=\"Tablet_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\ + 0 5.759586 0\" xyz=\"0.083925 0 0.20151\" />\n <parent link=\"torso\" />\n \ + \ <child link=\"Tablet_frame\" />\n </joint>\n <joint name=\"ChestBoard/Button_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin xyz=\"0.049871 0.001588 0.194163\" />\n <parent\ + \ link=\"torso\" />\n <child link=\"ChestButton_frame\" />\n </joint>\n <joint\ + \ name=\"HipPitch_shiny_joint\" type=\"fixed\">\n <parent link=\"Pelvis\" />\n\ + \ <child link=\"HipPitch_shiny\" />\n </joint>\n <joint name=\"KneePitch_milky_joint\"\ + \ type=\"fixed\">\n <parent link=\"Tibia\" />\n <child link=\"KneePitch_milky\"\ + \ />\n </joint>\n <joint name=\"Sonar/Back_sensor_fixedjoint\" type=\"fixed\"\ + >\n <origin rpy=\"0 6.073747 -3.14159\" xyz=\"-0.0718 0 -0.0534\" />\n <parent\ + \ link=\"Tibia\" />\n <child link=\"SonarBack_frame\" />\n </joint>\n <joint\ + \ name=\"LaserSensor/VerticalLeft_sensor_fixedjoint\" type=\"fixed\">\n <origin\ + \ rpy=\"0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n <parent link=\"Tibia\" />\n\ + \ <child link=\"VerticalLeftLaser_frame\" />\n </joint>\n <joint name=\"LaserSensor/Front_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin rpy=\"0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n\ + \ <parent link=\"Tibia\" />\n <child link=\"SurroundingFrontLaser_device_frame\"\ + \ />\n </joint>\n <joint name=\"Bumper/Back_sensor_fixedjoint\" type=\"fixed\"\ + >\n <origin rpy=\"0 0 -3.14159\" xyz=\"-0.251 0 -0.264\" />\n <parent link=\"\ + Tibia\" />\n <child link=\"BumperB_frame\" />\n </joint>\n <joint name=\"LaserSensor/Left_projected_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin rpy=\"0 0 -4.525905\" xyz=\"-0.018 0.0899 -0.334\"\ + \ />\n <parent link=\"Tibia\" />\n <child link=\"SurroundingLeftLaser_frame\"\ + \ />\n </joint>\n <joint name=\"LaserSensor/Shovel_sensor_fixedjoint\" type=\"\ + fixed\">\n <origin rpy=\"0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n <parent\ + \ link=\"Tibia\" />\n <child link=\"ShovelLaser_frame\" />\n </joint>\n <joint\ + \ name=\"LaserSensor/Right_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\ + 0 0.349066 -1.5708\" xyz=\"-0.018 -0.0899 -0.0759\" />\n <parent link=\"Tibia\"\ + \ />\n <child link=\"SurroundingRightLaser_device_frame\" />\n </joint>\n <joint\ + \ name=\"LaserSensor/Left_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\ + 0 0.349066 -4.712386\" xyz=\"-0.018 0.0899 -0.0759\" />\n <parent link=\"Tibia\"\ + \ />\n <child link=\"SurroundingLeftLaser_device_frame\" />\n </joint>\n <joint\ + \ name=\"LaserSensor/Right_projected_sensor_fixedjoint\" type=\"fixed\">\n <origin\ + \ rpy=\"0 0 -1.75728\" xyz=\"-0.018 -0.0899 -0.334\" />\n <parent link=\"Tibia\"\ + \ />\n <child link=\"SurroundingRightLaser_frame\" />\n </joint>\n <joint name=\"\ + LaserSensor/VerticalRight_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\ + 0 0.349066 0\" xyz=\"0.0562 0 -0.0692\" />\n <parent link=\"Tibia\" />\n <child\ + \ link=\"VerticalRightLaser_frame\" />\n </joint>\n <joint name=\"Sonar/Front_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin rpy=\"0 5.960327 0\" xyz=\"0.0699 0 -0.1023\" />\n\ + \ <parent link=\"Tibia\" />\n <child link=\"SonarFront_frame\" />\n </joint>\n\ + \ <joint name=\"Bumper/FrontLeft_sensor_fixedjoint\" type=\"fixed\">\n <origin\ + \ rpy=\"0 0 -5.794325\" xyz=\"0.129 0.227 -0.264\" />\n <parent link=\"Tibia\"\ + \ />\n <child link=\"BumperFL_frame\" />\n </joint>\n <joint name=\"AccelerometerBase_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin xyz=\"0.0147 -0.0017 -0.26319\" />\n <parent link=\"\ + Tibia\" />\n <child link=\"ImuBaseAccelerometer_frame\" />\n </joint>\n <joint\ + \ name=\"Bumper/FrontRight_sensor_fixedjoint\" type=\"fixed\">\n <origin rpy=\"\ + 0 0 -0.48886\" xyz=\"0.129 -0.227 -0.264\" />\n <parent link=\"Tibia\" />\n \ + \ <child link=\"BumperFR_frame\" />\n </joint>\n <joint name=\"LaserSensor/Front_projected_sensor_fixedjoint\"\ + \ type=\"fixed\">\n <origin xyz=\"0.0562 0 -0.334\" />\n <parent link=\"Tibia\"\ + \ />\n <child link=\"SurroundingFrontLaser_frame\" />\n </joint>\n <joint name=\"\ + WheelFL\" type=\"continuous\">\n <origin rpy=\"0 0 -5.208015\" xyz=\"0.09 0.155\ + \ -0.264\" />\n <parent link=\"Tibia\" />\n <child link=\"WheelFL_link\" />\n\ + \ <axis xyz=\"1 0 0\" />\n </joint>\n <joint name=\"WheelB\" type=\"continuous\"\ + >\n <origin rpy=\"0 0 -3.14159\" xyz=\"-0.17 0 -0.264\" />\n <parent link=\"\ + Tibia\" />\n <child link=\"WheelB_link\" />\n <axis xyz=\"1 0 0\" />\n </joint>\n\ + \ <joint name=\"WheelFR\" type=\"continuous\">\n <origin rpy=\"0 0 -1.07517\"\ + \ xyz=\"0.09 -0.155 -0.264\" />\n <parent link=\"Tibia\" />\n <child link=\"\ + WheelFR_link\" />\n <axis xyz=\"1 0 0\" />\n </joint>\n <joint name=\"sick_laser_rear\"\ + \ type=\"fixed\">\n <origin rpy=\"0 0 -3.141593\" xyz=\"-0.245 0 -0.1\" />\n\ + \ <parent link=\"Tibia\" />\n <child link=\"sick_laser_rear\" />\n </joint>\n\ + \ <joint name=\"sick_laser_front\" type=\"fixed\">\n <origin xyz=\"0.245 0 -0.1\"\ + \ />\n <parent link=\"Tibia\" />\n <child link=\"sick_laser_front\" />\n \ + \ </joint>\n <transmission name=\"HeadYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"HeadYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"HeadYaw_Motor\">\n <!-- Dummy Values -->\n \ + \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>101.3</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"HeadPitch_Transmission\">\n\ + \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"HeadPitch\"\ + >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"HeadPitch_Motor\">\n <!-- Dummy Values -->\n\ + \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>118.1</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"LShoulderPitch_Transmission\"\ + >\n <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"LShoulderPitch\"\ + >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"LShoulderPitch_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"LShoulderRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"LShoulderRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"LShoulderRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"LElbowYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"LElbowYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"LElbowYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"LElbowRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"LElbowRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"LElbowRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"LWristYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"LWristYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"LWristYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"LHand_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"LHand\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"LHand_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>36.24</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"RShoulderPitch_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"RShoulderPitch\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"RShoulderPitch_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"RShoulderRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"RShoulderRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"RShoulderRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"RElbowYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"RElbowYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"RElbowYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>101.3</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"RElbowRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"RElbowRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"RElbowRoll_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"RWristYaw_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"RWristYaw\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"RWristYaw_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>118.1</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"RHand_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"RHand\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"RHand_Motor\">\n <hardwareInterface>PositionJointInterface</hardwareInterface>\n\ + \ <mechanicalReduction>36.24</mechanicalReduction>\n </actuator>\n</transmission>\n\ + <transmission name=\"HipRoll_Transmission\">\n <type>transmission_interface/SimpleTransmission</type>\n\ + \ <joint name=\"HipRoll\">\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"HipRoll_Motor\">\n <!-- Dummy Values -->\n \ + \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>108.33</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"HipPitch_Transmission\">\n\ + \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"HipPitch\"\ + >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"HipPitch_Motor\">\n <!-- Dummy Values -->\n \ + \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>108.33</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"KneePitch_Transmission\">\n\ + \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"KneePitch\"\ + >\n <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"KneePitch_Motor\">\n <!-- Dummy Values -->\n\ + \ <hardwareInterface>PositionJointInterface</hardwareInterface>\n <mechanicalReduction>108.33</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"WheelFL_Transmission\">\n\ + \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"WheelFL\"\ + >\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"WheelFL_Motor\">\n <!-- Dummy Values -->\n \ + \ <hardwareInterface>EffortJointInterface</hardwareInterface>\n <mechanicalReduction>25.0</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"WheelB_Transmission\">\n \ + \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"WheelB\"\ + >\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"WheelB_Motor\">\n <!-- Dummy Values -->\n \ + \ <hardwareInterface>EffortJointInterface</hardwareInterface>\n <mechanicalReduction>25.0</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n<transmission name=\"WheelFR_Transmission\">\n\ + \ <type>transmission_interface/SimpleTransmission</type>\n <joint name=\"WheelFR\"\ + >\n <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>\n\ + \ </joint>\n <actuator name=\"WheelFR_Motor\">\n <!-- Dummy Values -->\n \ + \ <hardwareInterface>EffortJointInterface</hardwareInterface>\n <mechanicalReduction>25.0</mechanicalReduction>\n\ + \ </actuator>\n</transmission>\n</robot>" + diff --git a/crowdbotsim/urdf/meshes/HeadPitch_0.10.stl b/crowdbotsim/urdf/meshes/HeadPitch_0.10.stl new file mode 100644 index 0000000000000000000000000000000000000000..3bc2e3cd52a3e8636ec83619e2537f4f35ba94aa Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadPitch_0.10.stl differ diff --git a/crowdbotsim/urdf/meshes/HeadPitch_ears.stl b/crowdbotsim/urdf/meshes/HeadPitch_ears.stl new file mode 100644 index 0000000000000000000000000000000000000000..dbd2509d7ea26ebdf61c95bfd87813262db72fc9 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadPitch_ears.stl differ diff --git a/crowdbotsim/urdf/meshes/HeadPitch_eyes.stl b/crowdbotsim/urdf/meshes/HeadPitch_eyes.stl new file mode 100644 index 0000000000000000000000000000000000000000..0b009727c94ad52aa03130edda816440f5c60e83 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadPitch_eyes.stl differ diff --git a/crowdbotsim/urdf/meshes/HeadPitch_milky.stl b/crowdbotsim/urdf/meshes/HeadPitch_milky.stl new file mode 100644 index 0000000000000000000000000000000000000000..0ac5477d96c20a214c73317f9b914840cc229241 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadPitch_milky.stl differ diff --git a/crowdbotsim/urdf/meshes/HeadPitch_shiny.stl b/crowdbotsim/urdf/meshes/HeadPitch_shiny.stl new file mode 100644 index 0000000000000000000000000000000000000000..57db3ed771fd60c33734c18719731b9ef408aee8 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadPitch_shiny.stl differ diff --git a/crowdbotsim/urdf/meshes/HeadYaw.stl b/crowdbotsim/urdf/meshes/HeadYaw.stl new file mode 100644 index 0000000000000000000000000000000000000000..7d8313b6b0e773f5581198cc866aae3b0161d827 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadYaw.stl differ diff --git a/crowdbotsim/urdf/meshes/HeadYaw_0.10.stl b/crowdbotsim/urdf/meshes/HeadYaw_0.10.stl new file mode 100644 index 0000000000000000000000000000000000000000..a76e7f1e9d185c2044ddf10d483928faecf04723 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HeadYaw_0.10.stl differ diff --git a/crowdbotsim/urdf/meshes/HipPitch_0.10.stl b/crowdbotsim/urdf/meshes/HipPitch_0.10.stl new file mode 100644 index 0000000000000000000000000000000000000000..d2a962e3880c56e5be840cc83dd1660d6270a06e Binary files /dev/null and b/crowdbotsim/urdf/meshes/HipPitch_0.10.stl differ diff --git a/crowdbotsim/urdf/meshes/HipPitch_milky.stl b/crowdbotsim/urdf/meshes/HipPitch_milky.stl new file mode 100644 index 0000000000000000000000000000000000000000..ca2ca30fb58a472ee8ec9f62c16e5ba5ce6f9c36 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HipPitch_milky.stl differ diff --git a/crowdbotsim/urdf/meshes/HipPitch_shiny.stl b/crowdbotsim/urdf/meshes/HipPitch_shiny.stl new file mode 100644 index 0000000000000000000000000000000000000000..8d029d32388874cee10e189bff9c85260a94d663 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HipPitch_shiny.stl differ diff --git a/crowdbotsim/urdf/meshes/HipRoll.stl b/crowdbotsim/urdf/meshes/HipRoll.stl new file mode 100644 index 0000000000000000000000000000000000000000..dc182cc238dc0e15e7dc4416bfaaf380f990eec1 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HipRoll.stl differ diff --git a/crowdbotsim/urdf/meshes/HipRoll_0.10.stl b/crowdbotsim/urdf/meshes/HipRoll_0.10.stl new file mode 100644 index 0000000000000000000000000000000000000000..922258a345bee490cb54bd2c1c540e75d4faf628 Binary files /dev/null and b/crowdbotsim/urdf/meshes/HipRoll_0.10.stl differ diff --git a/crowdbotsim/urdf/meshes/KneePitch_0.10.stl b/crowdbotsim/urdf/meshes/KneePitch_0.10.stl new file mode 100644 index 0000000000000000000000000000000000000000..85e836f98d17ab3d67f10d80a276d7eb3084a695 Binary files /dev/null and b/crowdbotsim/urdf/meshes/KneePitch_0.10.stl differ diff --git a/crowdbotsim/urdf/meshes/KneePitch_milky.stl b/crowdbotsim/urdf/meshes/KneePitch_milky.stl new file mode 100644 index 0000000000000000000000000000000000000000..105072fb7d74df531b7022dfe1877f390bf83a57 Binary files /dev/null and b/crowdbotsim/urdf/meshes/KneePitch_milky.stl differ diff --git a/crowdbotsim/urdf/meshes/KneePitch_shiny.stl b/crowdbotsim/urdf/meshes/KneePitch_shiny.stl new file mode 100644 index 0000000000000000000000000000000000000000..0f063c751dc12d5b1bb4e32df293c748b4f74108 Binary files /dev/null and b/crowdbotsim/urdf/meshes/KneePitch_shiny.stl differ diff --git a/crowdbotsim/urdf/meshes/LElbowRoll_0.10.stl b/crowdbotsim/urdf/meshes/LElbowRoll_0.10.stl new file mode 100644 index 0000000000000000000000000000000000000000..d40e0a0eacf9e15ddcaac255802e6bc523aad3a8 Binary files /dev/null and b/crowdbotsim/urdf/meshes/LElbowRoll_0.10.stl differ diff --git a/crowdbotsim/urdf/meshes/LElbowRoll_milky.stl b/crowdbotsim/urdf/meshes/LElbowRoll_milky.stl new file mode 100644 index 0000000000000000000000000000000000000000..4a1133bcbcbe677e78f62d2f38c81f8d9b7840a3 Binary files /dev/null and b/crowdbotsim/urdf/meshes/LElbowRoll_milky.stl differ diff --git a/crowdbotsim/urdf/meshes/LElbowRoll_shiny.stl b/crowdbotsim/urdf/meshes/LElbowRoll_shiny.stl new file mode 100644 index 0000000000000000000000000000000000000000..dd2c1334d1eb81dd8833c472c6768c50f02838c7 Binary files /dev/null and b/crowdbotsim/urdf/meshes/LElbowRoll_shiny.stl differ diff --git a/crowdbotsim/urdf/meshes/LElbowYaw.stl b/crowdbotsim/urdf/meshes/LElbowYaw.stl new file mode 100644 index 0000000000000000000000000000000000000000..342db1d4dacfa290f4b9af74e87e0c51ca6bf20d Binary files /dev/null and b/crowdbotsim/urdf/meshes/LElbowYaw.stl differ diff --git a/crowdbotsim/urdf/meshes/LElbowYaw_0.10.stl 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