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thorikawa/JULIETTEY20MP.urdf

Created December 26, 2014 11:58
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Pepper's urdf
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JULIETTEY20MP.urdf
<?xml version="1.0"?>
<!--
This file is the urdf description of an Aldebaran Robotics robot.
It has been generated by robot_description tool available in the simulator-sdk.
For more information about urdf, see http://www.ros.org/wiki/urdf/
-->
<robot name="Juliette">
<material name="LightGrey">
<color rgba="0.9 0.9 0.9 1.0"/>
</material>
<link name="TorsoLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/Torso.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.00322 0 -0.01029" rpy="0 0 0"/>
<mass value="3.99533"/>
<inertia ixx="0.0456991" ixy="0" ixz="-0.00512329" iyy="0.0437347" iyz="0.000266886" izz="0.0259295" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/Torso.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="HeadYawLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HeadYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="-0.00207 0 -0.02636" rpy="0 0 0"/>
<mass value="0.27391"/>
<inertia ixx="0.000533827" ixy="0" ixz="3.38023e-05" iyy="0.000685398" iyz="-2.09863e-06" izz="0.000216426" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HeadYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="HeadPitchLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HeadPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.00312 0 0.11152" rpy="0 0 0"/>
<mass value="1.51893"/>
<inertia ixx="0.0248626" ixy="0" ixz="0.000403362" iyy="0.0248107" iyz="-4.3428e-07" izz="0.00571852" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HeadPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LShoulderPitchLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LShoulderPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.00018 -0.01856 0.00099" rpy="0 0 0"/>
<mass value="0.3125"/>
<inertia ixx="0.000469152" ixy="9.3947e-07" ixz="-5.8022e-07" iyy="0.000137546" iyz="-5.322e-08" izz="0.000506852" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LShoulderPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LShoulderRollLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LShoulderRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.08151 0.01284 -0.01017" rpy="0 0 0"/>
<mass value="0.50527"/>
<inertia ixx="0.000636433" ixy="0.000564402" ixz="-0.000503973" iyy="0.00467205" iyz="-7.50477e-05" izz="0.00459743" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LShoulderRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LElbowYawLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LElbowYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="-0.02297 -0.00019 0.00119" rpy="0 0 0"/>
<mass value="0.27495"/>
<inertia ixx="0.00012337" ixy="2.1394e-07" ixz="1.80682e-05" iyy="0.000477224" iyz="1.92708e-06" izz="0.000448126" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LElbowYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LElbowRollLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LElbowRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.0593 0.00271 -0.01014" rpy="0 0 0"/>
<mass value="0.16579"/>
<inertia ixx="0.0015834" ixy="1.18913e-05" ixz="-3.91152e-05" iyy="0.00233224" iyz="-4.37962e-06" izz="0.000857298" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LElbowRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LWristYawLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LWristYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.03536 -0.00072 -0.00207" rpy="0 0 0"/>
<mass value="0.27555"/>
<inertia ixx="0.000152966" ixy="-1.76782e-05" ixz="-2.3064e-05" iyy="0.000776808" iyz="3.54783e-06" izz="0.000800843" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/LWristYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger11Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger12Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger13Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger21Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger22Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger23Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger31Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger32Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger33Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger41Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger42Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LFinger43Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LThumb1Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="LThumb2Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="HipRollLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HipRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.00032 0 -0.06039" rpy="0 0 0"/>
<mass value="1.02338"/>
<inertia ixx="0.00875644" ixy="0" ixz="5.71451e-06" iyy="0.010142" iyz="-0.000159449" izz="0.00441092" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HipRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="HipPitchLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HipPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.00237 0 -0.09654" rpy="0 0 0"/>
<mass value="2.45917"/>
<inertia ixx="0.0572704" ixy="0" ixz="-0.000785692" iyy="0.0532455" iyz="8.37542e-05" izz="0.0143909" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/HipPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="KneePitchLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/KneePitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.00249 0 -0.20536" rpy="0 0 0"/>
<mass value="15.4854"/>
<inertia ixx="0.869776" ixy="0.000401788" ixz="-0.00866522" iyy="0.859641" iyz="0" izz="0.235316" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/KneePitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RShoulderPitchLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RShoulderPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
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<inertia ixx="0.000469152" ixy="-9.3947e-07" ixz="-5.8022e-07" iyy="0.000137546" iyz="5.322e-08" izz="0.000506852" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RShoulderPitch.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RShoulderRollLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RShoulderRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
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</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RShoulderRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RElbowYawLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RElbowYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="-0.02297 0.00019 0.00119" rpy="0 0 0"/>
<mass value="0.27495"/>
<inertia ixx="0.00012337" ixy="-2.1394e-07" ixz="1.80682e-05" iyy="0.000477224" iyz="-1.92708e-06" izz="0.000448126" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RElbowYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RElbowRollLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RElbowRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
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</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RElbowRoll.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RWristYawLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RWristYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0.03536 0.00072 -0.00207" rpy="0 0 0"/>
<mass value="0.27555"/>
<inertia ixx="0.000152966" ixy="1.76782e-05" ixz="-2.3064e-05" iyy="0.000776808" iyz="-3.54783e-06" izz="0.000800843" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/DVT/RWristYaw.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger11Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger12Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
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</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger13Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger21Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger22Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger23Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger31Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger32Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
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<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger33Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
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<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger41Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
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<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger42Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
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<material name="LightGrey"/>
</visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RFinger43Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RThumb1Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/Phalax.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="RThumb2Link">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/PhalaxEnd.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="WheelBLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/WheelB.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="-0.00058 -0.00063 0.0001" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.00257659" ixy="-1.63442e-06" ixz="-4.10097e-05" iyy="0.00266064" iyz="-1.8153e-07" izz="0.00242983" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/WheelB.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="WheelFLLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/WheelFL.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="-0.00058 -0.00063 0.0001" rpy="0 0 0"/>
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<inertia ixx="0.00257659" ixy="-1.63442e-06" ixz="-4.10097e-05" iyy="0.00266064" iyz="-1.8153e-07" izz="0.00242983" />
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<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/WheelFL.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<link name="WheelFRLink">
<visual>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/WheelFR.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</visual>
<inertial>
<origin xyz="-0.00058 -0.00063 0.0001" rpy="0 0 0"/>
<mass value="0"/>
<inertia ixx="0.00257659" ixy="-1.63442e-06" ixz="-4.10097e-05" iyy="0.00266064" iyz="-1.8153e-07" izz="0.00242983" />
</inertial>
<collision>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<geometry>
<mesh filename="file:///opt/naoqi-sdk/share/alrobotmodel/meshes//juliette/WheelFR.mesh" scale="0.001 0.001 0.001"/>
</geometry>
<material name="LightGrey"/>
</collision>
</link>
<joint name="HeadYaw" type="continuous">
<parent link="TorsoLink"/>
<child link="HeadYawLink"/>
<origin xyz="-0.038 0 0.1699" rpy="0 -0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="HeadPitch" type="continuous">
<parent link="HeadYawLink"/>
<child link="HeadPitchLink"/>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LShoulderPitch" type="continuous">
<parent link="TorsoLink"/>
<child link="LShoulderPitchLink"/>
<origin xyz="-0.057 0.14974 0.08682" rpy="0 -0 0"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="LShoulderRoll" type="continuous">
<parent link="LShoulderPitchLink"/>
<child link="LShoulderRollLink"/>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LElbowYaw" type="continuous">
<parent link="LShoulderRollLink"/>
<child link="LElbowYawLink"/>
<origin xyz="0.1812 0.015 0.00013" rpy="-0 -0.157079 0"/>
<axis xyz="0.987688 0 0.156434"/>
</joint>
<joint name="LElbowRoll" type="continuous">
<parent link="LElbowYawLink"/>
<child link="LElbowRollLink"/>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="LWristYaw" type="continuous">
<parent link="LElbowRollLink"/>
<child link="LWristYawLink"/>
<origin xyz="0.15 0 0" rpy="0 -0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="LFinger11" type="continuous">
<parent link="LWristYawLink"/>
<child link="LFinger11Link"/>
<origin xyz="0.0821 -0.0268 0.004" rpy="0.173223 1.04064 -0.0334335"/>
<axis xyz="-0.181542 -0.979513 -0.087156"/>
</joint>
<joint name="LFinger12" type="continuous">
<parent link="LFinger11Link"/>
<child link="LFinger12Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger13" type="continuous">
<parent link="LFinger12Link"/>
<child link="LFinger13Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger21" type="continuous">
<parent link="LWristYawLink"/>
<child link="LFinger21Link"/>
<origin xyz="0.0873 -0.0073 0.006" rpy="8.00937e-07 1.0472 -0.061086"/>
<axis xyz="-0.061049 -0.998135 0"/>
</joint>
<joint name="LFinger22" type="continuous">
<parent link="LFinger21Link"/>
<child link="LFinger22Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger23" type="continuous">
<parent link="LFinger22Link"/>
<child link="LFinger23Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger31" type="continuous">
<parent link="LWristYawLink"/>
<child link="LFinger31Link"/>
<origin xyz="0.0833 0.0123 0.004" rpy="-0.104434 1.04483 -0.029314"/>
<axis xyz="0.060965 -0.996767 0.052336"/>
</joint>
<joint name="LFinger32" type="continuous">
<parent link="LFinger31Link"/>
<child link="LFinger32Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger33" type="continuous">
<parent link="LFinger32Link"/>
<child link="LFinger33Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger41" type="continuous">
<parent link="LWristYawLink"/>
<child link="LFinger41Link"/>
<origin xyz="0.074 0.0309 0" rpy="-0.173223 1.04064 0.0683395"/>
<axis xyz="0.215616 -0.972581 0.087156"/>
</joint>
<joint name="LFinger42" type="continuous">
<parent link="LFinger41Link"/>
<child link="LFinger42Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LFinger43" type="continuous">
<parent link="LFinger42Link"/>
<child link="LFinger43Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="LThumb1" type="continuous">
<parent link="LWristYawLink"/>
<child link="LThumb1Link"/>
<origin xyz="0.0482 -0.0357 -0.0199" rpy="2.75403 0.60626 0.533978"/>
<axis xyz="-0.656581 0.687343 -0.310582"/>
</joint>
<joint name="LThumb2" type="continuous">
<parent link="LThumb1Link"/>
<child link="LThumb2Link"/>
<origin xyz="0.022 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="HipRoll" type="continuous">
<parent link="TorsoLink"/>
<child link="HipRollLink"/>
<origin xyz="2e-05 0 -0.139" rpy="0 -0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="HipPitch" type="continuous">
<parent link="HipRollLink"/>
<child link="HipPitchLink"/>
<origin xyz="0 0 -0.079" rpy="0 -0 0"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="KneePitch" type="continuous">
<parent link="HipPitchLink"/>
<child link="KneePitchLink"/>
<origin xyz="0 0 -0.268" rpy="0 -0 0"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RShoulderPitch" type="continuous">
<parent link="TorsoLink"/>
<child link="RShoulderPitchLink"/>
<origin xyz="-0.057 -0.14974 0.08682" rpy="0 -0 0"/>
<axis xyz="0 1 0"/>
</joint>
<joint name="RShoulderRoll" type="continuous">
<parent link="RShoulderPitchLink"/>
<child link="RShoulderRollLink"/>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RElbowYaw" type="continuous">
<parent link="RShoulderRollLink"/>
<child link="RElbowYawLink"/>
<origin xyz="0.1812 -0.015 0.00013" rpy="-0 -0.157079 0"/>
<axis xyz="0.987688 0 0.156434"/>
</joint>
<joint name="RElbowRoll" type="continuous">
<parent link="RElbowYawLink"/>
<child link="RElbowRollLink"/>
<origin xyz="0 0 0" rpy="0 -0 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="RWristYaw" type="continuous">
<parent link="RElbowRollLink"/>
<child link="RWristYawLink"/>
<origin xyz="0.15 0 0" rpy="0 -0 0"/>
<axis xyz="1 0 0"/>
</joint>
<joint name="RFinger11" type="continuous">
<parent link="RWristYawLink"/>
<child link="RFinger11Link"/>
<origin xyz="0.0821 0.0268 0.004" rpy="-0.173223 1.04064 0.0334335"/>
<axis xyz="0.181542 -0.979513 0.087156"/>
</joint>
<joint name="RFinger12" type="continuous">
<parent link="RFinger11Link"/>
<child link="RFinger12Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger13" type="continuous">
<parent link="RFinger12Link"/>
<child link="RFinger13Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger21" type="continuous">
<parent link="RWristYawLink"/>
<child link="RFinger21Link"/>
<origin xyz="0.0873 0.0073 0.006" rpy="-8.90344e-07 1.0472 0.061086"/>
<axis xyz="0.061049 -0.998135 0"/>
</joint>
<joint name="RFinger22" type="continuous">
<parent link="RFinger21Link"/>
<child link="RFinger22Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger23" type="continuous">
<parent link="RFinger22Link"/>
<child link="RFinger23Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger31" type="continuous">
<parent link="RWristYawLink"/>
<child link="RFinger31Link"/>
<origin xyz="0.0833 -0.0123 0.004" rpy="0.104435 1.04483 0.029316"/>
<axis xyz="-0.060965 -0.996767 -0.052336"/>
</joint>
<joint name="RFinger32" type="continuous">
<parent link="RFinger31Link"/>
<child link="RFinger32Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger33" type="continuous">
<parent link="RFinger32Link"/>
<child link="RFinger33Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger41" type="continuous">
<parent link="RWristYawLink"/>
<child link="RFinger41Link"/>
<origin xyz="0.074 -0.0309 0" rpy="0.173223 1.04064 -0.0683395"/>
<axis xyz="-0.215616 -0.972581 -0.087156"/>
</joint>
<joint name="RFinger42" type="continuous">
<parent link="RFinger41Link"/>
<child link="RFinger42Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RFinger43" type="continuous">
<parent link="RFinger42Link"/>
<child link="RFinger43Link"/>
<origin xyz="0.018 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="RThumb1" type="continuous">
<parent link="RWristYawLink"/>
<child link="RThumb1Link"/>
<origin xyz="0.0482 0.0357 -0.0199" rpy="-2.75403 0.60626 -0.533978"/>
<axis xyz="0.656581 0.687342 0.310582"/>
</joint>
<joint name="RThumb2" type="continuous">
<parent link="RThumb1Link"/>
<child link="RThumb2Link"/>
<origin xyz="0.022 0 0" rpy="4.37113e-08 1.0472 7.57103e-08"/>
<axis xyz="0 -1 -4.37114e-08"/>
</joint>
<joint name="WheelB" type="continuous">
<parent link="KneePitchLink"/>
<child link="WheelBLink"/>
<origin xyz="-0.17 0 -0.264" rpy="0 -0 3.14159"/>
<axis xyz="1 0 -4.37114e-08"/>
</joint>
<joint name="WheelFL" type="continuous">
<parent link="KneePitchLink"/>
<child link="WheelFLLink"/>
<origin xyz="0.09 0.155 -0.264" rpy="0 -0 1.07517"/>
<axis xyz="-0.47558 -0.879673 -4.37114e-08"/>
</joint>
<joint name="WheelFR" type="continuous">
<parent link="KneePitchLink"/>
<child link="WheelFRLink"/>
<origin xyz="0.09 -0.155 -0.264" rpy="-0 -0 -1.07517"/>
<axis xyz="-0.47558 0.879673 -4.37114e-08"/>
</joint>
</robot>
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