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nao.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from nao_robot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--******************************************************************
****** File automatically generated by generate_urdf.py script ******
*********************************************************************-->
<robot name="NaoH25V40" xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="HeadYaw" type="revolute">
<parent link="torso"/>
<child link="Neck"/>
<origin rpy="0 0 0" xyz="0 0 0.1265"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.547" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="Neck">
<inertial>
<mass value="0.06442"/>
<inertia ixx="2.65584e-05" ixy="1.57e-09" ixz="0" iyy="2.75654e-05" iyz="-5.295e-08" izz="5.53372e-06"/>
<origin rpy="0 0 0" xyz="-1e-05 0 -0.02742"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/HeadYaw.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/HeadYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="HeadPitch" type="revolute">
<parent link="Neck"/>
<child link="Head"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="1.532" lower="-0.671952" upper="0.514872" velocity="7.19407"/>
</joint>
<link name="Head">
<inertial>
<mass value="0.60533"/>
<inertia ixx="0.000957766" ixy="8.78814e-06" ixz="5.33702e-06" iyy="0.000816836" iyz="-2.99579e-05" izz="0.000984976"/>
<origin rpy="0 0 0" xyz="-0.00112 0 0.05258"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/HeadPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/HeadPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="gaze_joint" type="fixed">
<parent link="Head"/>
<child link="gaze"/>
<origin rpy="0 0 0" xyz="0.05871 0 0.06364"/>
</joint>
<link name="gaze"/>
<joint name="LHipYawPitch" type="revolute">
<parent link="torso"/>
<child link="LPelvis"/>
<origin rpy="0 0 0" xyz="0 0.05 -0.085"/>
<axis xyz="0 0.707106 -0.707106"/>
<limit effort="3.348" lower="-1.14529" upper="0.740718" velocity="4.16174"/>
</joint>
<link name="LPelvis">
<inertial>
<mass value="0.06981"/>
<inertia ixx="2.3407e-05" ixy="1.07922e-06" ixz="-1.76003e-06" iyy="4.76355e-05" iyz="2.76058e-06" izz="4.97021e-05"/>
<origin rpy="0 0 0" xyz="-0.00781 -0.01114 0.02661"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LHipYawPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LHipYawPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHipRoll" type="revolute">
<parent link="LPelvis"/>
<child link="LHip"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.379435" upper="0.79046" velocity="4.16174"/>
</joint>
<link name="LHip">
<inertial>
<mass value="0.13053"/>
<inertia ixx="2.41106e-05" ixy="-6.08684e-07" ixz="6.33119e-06" iyy="6.34892e-05" iyz="-1.99137e-07" izz="5.67694e-05"/>
<origin rpy="0 0 0" xyz="-0.01549 0.00029 -0.00515"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LHipRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LHipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHipPitch" type="revolute">
<parent link="LHip"/>
<child link="LThigh"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.023" lower="-1.53589" upper="0.48398" velocity="6.40239"/>
</joint>
<link name="LThigh">
<inertial>
<mass value="0.38968"/>
<inertia ixx="0.000509844" ixy="2.11296e-06" ixz="5.64129e-05" iyy="0.000465358" iyz="-7.91029e-06" izz="0.000301098"/>
<origin rpy="0 0 0" xyz="0.00138 0.00221 -0.05373"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LHipPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LHipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LKneePitch" type="revolute">
<parent link="LThigh"/>
<child link="LTibia"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.023" lower="-0.0923279" upper="2.11255" velocity="6.40239"/>
</joint>
<link name="LTibia">
<inertial>
<mass value="0.29142"/>
<inertia ixx="0.000470586" ixy="3.60392e-06" ixz="-2.86648e-05" iyy="0.000412654" iyz="7.13013e-06" izz="0.000185772"/>
<origin rpy="0 0 0" xyz="0.00453 0.00225 -0.04936"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LKneePitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LKneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LAnklePitch" type="revolute">
<parent link="LTibia"/>
<child link="LAnklePitch"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.023" lower="-1.18944" upper="0.922581" velocity="6.40239"/>
</joint>
<link name="LAnklePitch">
<inertial>
<mass value="0.13416"/>
<inertia ixx="3.22034e-05" ixy="-8.83212e-09" ixz="4.27549e-06" iyy="6.7943e-05" iyz="2.84849e-07" izz="5.48269e-05"/>
<origin rpy="0 0 0" xyz="0.00045 0.00029 0.00685"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LAnklePitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LAnklePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LAnkleRoll" type="revolute">
<parent link="LAnklePitch"/>
<child link="l_ankle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.397761" upper="0.768992" velocity="4.16174"/>
</joint>
<link name="l_ankle">
<inertial>
<mass value="0.16184"/>
<inertia ixx="9.78911e-05" ixy="7.88039e-06" ixz="6.1279e-06" iyy="0.000369977" iyz="1.44233e-06" izz="0.000419417"/>
<origin rpy="0 0 0" xyz="0.02542 0.0033 -0.03239"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LAnkleRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LAnkleRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LLeg_effector_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="l_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="l_sole"/>
<joint name="RHipYawPitch" type="revolute">
<parent link="torso"/>
<child link="RPelvis"/>
<origin rpy="0 0 0" xyz="0 -0.05 -0.085"/>
<axis xyz="0 0.707106 0.707106"/>
<limit effort="3.348" lower="-1.14529" upper="0.740718" velocity="4.16174"/>
<mimic joint="LHipYawPitch" multiplier="1.0" offset="0"/>
</joint>
<link name="RPelvis">
<inertial>
<mass value="0.06981"/>
<inertia ixx="3.18766e-05" ixy="-1.07152e-06" ixz="-1.77295e-06" iyy="5.18361e-05" iyz="-7.00664e-06" izz="5.39657e-05"/>
<origin rpy="0 0 0" xyz="-0.00781 0.01114 0.02661"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RHipYawPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RHipYawPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHipRoll" type="revolute">
<parent link="RPelvis"/>
<child link="RHip"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.79046" upper="0.379435" velocity="4.16174"/>
</joint>
<link name="RHip">
<inertial>
<mass value="0.13053"/>
<inertia ixx="2.41136e-05" ixy="5.67164e-07" ixz="6.30461e-06" iyy="6.34886e-05" iyz="1.97457e-07" izz="5.6773e-05"/>
<origin rpy="0 0 0" xyz="-0.01549 -0.00029 -0.00515"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RHipRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RHipRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHipPitch" type="revolute">
<parent link="RHip"/>
<child link="RThigh"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.0226" lower="-1.53589" upper="0.48398" velocity="6.40239"/>
</joint>
<link name="RThigh">
<inertial>
<mass value="0.38968"/>
<inertia ixx="0.000510607" ixy="-2.02799e-06" ixz="5.69893e-05" iyy="0.0004665" iyz="7.09563e-06" izz="0.000301333"/>
<origin rpy="0 0 0" xyz="0.00138 -0.00221 -0.05373"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RHipPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RHipPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RKneePitch" type="revolute">
<parent link="RThigh"/>
<child link="RTibia"/>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.0226" lower="-0.0923279" upper="2.11255" velocity="6.40239"/>
</joint>
<link name="RTibia">
<inertial>
<mass value="0.29142"/>
<inertia ixx="0.000471336" ixy="-3.8668e-06" ixz="-3.71648e-05" iyy="0.00041228" iyz="-6.11093e-06" izz="0.000183997"/>
<origin rpy="0 0 0" xyz="0.00453 -0.00225 -0.04936"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RKneePitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RKneePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RAnklePitch" type="revolute">
<parent link="RTibia"/>
<child link="RAnklePitch"/>
<origin rpy="0 0 0" xyz="0 0 -0.1029"/>
<axis xyz="0 1.0 0"/>
<limit effort="3.0226" lower="-1.1863" upper="0.932006" velocity="6.40239"/>
</joint>
<link name="RAnklePitch">
<inertial>
<mass value="0.13416"/>
<inertia ixx="3.22017e-05" ixy="4.68321e-08" ixz="4.28821e-06" iyy="6.79885e-05" iyz="-2.71089e-07" izz="5.48747e-05"/>
<origin rpy="0 0 0" xyz="0.00045 -0.00029 0.00685"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RAnklePitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RAnklePitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RAnkleRoll" type="revolute">
<parent link="RAnklePitch"/>
<child link="r_ankle"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="3.348" lower="-0.768992" upper="0.397761" velocity="4.16174"/>
</joint>
<link name="r_ankle">
<inertial>
<mass value="0.16184"/>
<inertia ixx="9.77513e-05" ixy="-7.70106e-06" ixz="5.88169e-06" iyy="0.000369108" iyz="-1.55058e-06" izz="0.000418695"/>
<origin rpy="0 0 0" xyz="0.02542 -0.0033 -0.03239"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RAnkleRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RAnkleRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RLeg_effector_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="r_sole"/>
<origin rpy="0 0 0" xyz="0 0 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="r_sole"/>
<link name="base_link"/>
<joint name="base_link_fixedjoint" type="fixed">
<parent link="base_link"/>
<child link="torso"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 0"/>
</joint>
<link name="torso">
<inertial>
<mass value="1.04956"/>
<inertia ixx="0.00308361" ixy="1.43116e-05" ixz="-3.30211e-05" iyy="0.0028835" iyz="-2.70793e-05" izz="0.0015924"/>
<origin rpy="0 0 0" xyz="-0.00413 0 0.04342"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/Torso.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/Torso_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="LShoulder"/>
<origin rpy="0 0 0" xyz="0 0.098 0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="1.329" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="LShoulder">
<inertial>
<mass value="0.07504"/>
<inertia ixx="3.10677e-05" ixy="1.2692e-06" ixz="6.04576e-09" iyy="1.39498e-05" iyz="-2.99484e-07" izz="3.30001e-05"/>
<origin rpy="0 0 0" xyz="-0.00165 -0.02663 0.00014"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LShoulderPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LShoulderRoll" type="revolute">
<parent link="LShoulder"/>
<child link="LBicep"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.7835" lower="-0.314159" upper="1.32645" velocity="7.19407"/>
</joint>
<link name="LBicep">
<inertial>
<mass value="0.15777"/>
<inertia ixx="8.7181e-05" ixy="-2.53381e-05" ixz="-1.4213e-05" iyy="0.000274712" iyz="4.71439e-07" izz="0.000241812"/>
<origin rpy="0 0 0" xyz="0.02455 0.00563 0.0033"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LShoulderRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LElbowYaw" type="revolute">
<parent link="LBicep"/>
<child link="LElbow"/>
<origin rpy="0 0 0" xyz="0.105 0.015 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="1.547" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="LElbow">
<inertial>
<mass value="0.06483"/>
<inertia ixx="5.59588e-06" ixy="4.21e-09" ixz="2.92241e-07" iyy="2.66179e-05" iyz="-1.84e-09" izz="2.76294e-05"/>
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
</inertial>
</link>
<joint name="LElbowRoll" type="revolute">
<parent link="LElbow"/>
<child link="LForeArm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.532" lower="-1.54462" upper="-0.0349066" velocity="7.19407"/>
</joint>
<link name="LForeArm">
<inertial>
<mass value="0.07761"/>
<inertia ixx="2.46746e-05" ixy="3.23152e-06" ixz="1.58221e-06" iyy="3.83837e-05" iyz="1.39194e-07" izz="3.59708e-05"/>
<origin rpy="0 0 0" xyz="0.02556 0.00281 0.00076"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LElbowRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LWristYaw" type="revolute">
<parent link="LForeArm"/>
<child link="l_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.4075" lower="-1.82387" upper="1.82387" velocity="24.6229"/>
</joint>
<link name="l_wrist">
<inertial>
<mass value="0.18533"/>
<inertia ixx="6.86477e-05" ixy="1.15465e-07" ixz="-2.87254e-06" iyy="0.000135756" iyz="2.67539e-06" izz="0.000133228"/>
<origin rpy="0 0 0" xyz="0.03434 -0.00088 0.00308"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/LWristYaw.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/LWristYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="LHand" type="fixed">
<parent link="l_wrist"/>
<child link="l_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 -0.01231"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.292" lower="0" upper="1.0" velocity="8.33"/>
</joint>
<link name="l_gripper">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RShoulderPitch" type="revolute">
<parent link="torso"/>
<child link="RShoulder"/>
<origin rpy="0 0 0" xyz="0 -0.098 0.1"/>
<axis xyz="0 1.0 0"/>
<limit effort="1.329" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="RShoulder">
<inertial>
<mass value="0.07504"/>
<inertia ixx="3.10677e-05" ixy="-1.2692e-06" ixz="6.04576e-09" iyy="1.39498e-05" iyz="2.99484e-07" izz="3.30001e-05"/>
<origin rpy="0 0 0" xyz="-0.00165 0.02663 0.00014"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RShoulderPitch.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RShoulderPitch_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RShoulderRoll" type="revolute">
<parent link="RShoulder"/>
<child link="RBicep"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.783" lower="-1.32645" upper="0.314159" velocity="7.19407"/>
</joint>
<link name="RBicep">
<inertial>
<mass value="0.15777"/>
<inertia ixx="0.000103401" ixy="5.48849e-05" ixz="-1.32643e-05" iyy="0.00027077" iyz="9.16707e-06" izz="0.000254529"/>
<origin rpy="0 0 0" xyz="0.02455 -0.00563 0.0033"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RShoulderRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RShoulderRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RElbowYaw" type="revolute">
<parent link="RBicep"/>
<child link="RElbow"/>
<origin rpy="0 0 0" xyz="0.105 -0.015 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="1.547" lower="-2.08567" upper="2.08567" velocity="8.26797"/>
</joint>
<link name="RElbow">
<inertial>
<mass value="0.06483"/>
<inertia ixx="5.59588e-06" ixy="4.21e-09" ixz="2.92241e-07" iyy="2.66179e-05" iyz="-1.84e-09" izz="2.76294e-05"/>
<origin rpy="0 0 0" xyz="-0.02744 0 -0.00014"/>
</inertial>
</link>
<joint name="RElbowRoll" type="revolute">
<parent link="RElbow"/>
<child link="RForeArm"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 0 1.0"/>
<limit effort="1.532" lower="0.0349066" upper="1.54462" velocity="7.19407"/>
</joint>
<link name="RForeArm">
<inertial>
<mass value="0.07761"/>
<inertia ixx="2.47331e-05" ixy="-3.2418e-06" ixz="9.06451e-07" iyy="3.84719e-05" iyz="-1.38804e-07" izz="3.59319e-05"/>
<origin rpy="0 0 0" xyz="0.02556 -0.00281 0.00076"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RElbowRoll.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RElbowRoll_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RWristYaw" type="revolute">
<parent link="RForeArm"/>
<child link="r_wrist"/>
<origin rpy="0 0 0" xyz="0.05595 0 0"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.4075" lower="-1.82387" upper="1.82387" velocity="24.6229"/>
</joint>
<link name="r_wrist">
<inertial>
<mass value="0.18533"/>
<inertia ixx="6.86477e-05" ixy="1.13165e-05" ixz="-2.87254e-06" iyy="0.000135756" iyz="3.68003e-06" izz="0.000133228"/>
<origin rpy="0 0 0" xyz="0.03434 0.00088 0.00308"/>
</inertial>
<visual>
<geometry>
<mesh filename="nao_meshes/RWristYaw.dae" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<collision>
<geometry>
<mesh filename="nao_meshes/RWristYaw_0.10.stl" scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="RHand" type="fixed">
<parent link="r_wrist"/>
<child link="r_gripper"/>
<origin rpy="0 0 0" xyz="0.05775 0 -0.01213"/>
<axis xyz="1.0 0 0"/>
<limit effort="0.292" lower="0" upper="1.0" velocity="8.33"/>
</joint>
<link name="r_gripper">
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<link name="LFootBumperRight_frame"/>
<joint name="LFoot/Bumper/Right_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFootBumperRight_frame"/>
<origin rpy="0 0 0" xyz="0.0876 -0.014 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFsrRL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/RearLeft_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRL_frame"/>
<origin rpy="0 0 0" xyz="-0.03025 0.0191 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraBottom_optical_frame"/>
<joint name="CameraBottom_optical_frame_fixedjoint" type="fixed">
<parent link="CameraBottom_frame"/>
<child link="CameraBottom_optical_frame"/>
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<link name="RFsrRR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/RearRight_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRR_frame"/>
<origin rpy="0 0 0" xyz="-0.02965 -0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrFR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/FrontRight_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.07025 -0.0231 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LHandTouchBack_frame"/>
<joint name="LHand/Touch/Back_sensor_fixedjoint" type="fixed">
<parent link="l_wrist"/>
<child link="LHandTouchBack_frame"/>
<origin rpy="3.14159 -1.5708 3.14159" xyz="0.038 0 0.025"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LHandTouchLeft_frame"/>
<joint name="LHand/Touch/Left_sensor_fixedjoint" type="fixed">
<parent link="l_wrist"/>
<child link="LHandTouchLeft_frame"/>
<origin rpy="0 0 1.5708" xyz="0.032 0.025 0.003"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFootBumperRight_frame"/>
<joint name="RFoot/Bumper/Right_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFootBumperRight_frame"/>
<origin rpy="0 0 0" xyz="0.0876 -0.019 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFsrFR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/FrontRight_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFR_frame"/>
<origin rpy="0 0 0" xyz="0.07025 -0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="MicroSurroundLeft_frame"/>
<joint name="MicroLeft_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="MicroSurroundLeft_frame"/>
<origin rpy="0 0 0" xyz="-0.0195 0.0606 0.0331"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrRR_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/RearRight_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRR_frame"/>
<origin rpy="0 0 0" xyz="-0.02965 -0.0191 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="MicroSurroundRight_frame"/>
<joint name="MicroRight_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="MicroSurroundRight_frame"/>
<origin rpy="0 0 0" xyz="-0.0195 -0.0606 0.0331"/>
<axis xyz="0 0 0"/>
</joint>
<link name="ImuTorsoAccelerometer_frame"/>
<joint name="Accelerometer_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="ImuTorsoAccelerometer_frame"/>
<origin rpy="0 0 0" xyz="-0.008 0.00606 0.027"/>
<axis xyz="0 0 0"/>
</joint>
<link name="HeadTouchFront_frame"/>
<joint name="Head/Touch/Front_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="HeadTouchFront_frame"/>
<origin rpy="0 -1.1861 0" xyz="0.0312 0 0.1014"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFootBumperLeft_frame"/>
<joint name="RFoot/Bumper/Left_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFootBumperLeft_frame"/>
<origin rpy="0 0 0" xyz="0.0876 0.014 -0.0353"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RSonar_frame"/>
<joint name="Sonar/Right_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="RSonar_frame"/>
<origin rpy="0.00478508 0.0436497 -0.392441" xyz="0.00558253 -0.0192068 0.0623853"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RHandTouchRight_frame"/>
<joint name="RHand/Touch/Right_sensor_fixedjoint" type="fixed">
<parent link="r_wrist"/>
<child link="RHandTouchRight_frame"/>
<origin rpy="0 0 -1.5708" xyz="0.035 -0.025 0.0035"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RHandTouchBack_frame"/>
<joint name="RHand/Touch/Back_sensor_fixedjoint" type="fixed">
<parent link="r_wrist"/>
<child link="RHandTouchBack_frame"/>
<origin rpy="3.14159 -1.5708 3.14159" xyz="0.038 0 0.025"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RFsrFL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="RFoot/FSR/FrontLeft_sensor_fixedjoint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.07025 0.0231 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LSonar_frame"/>
<joint name="Sonar/Left_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="LSonar_frame"/>
<origin rpy="-0.00478508 0.0436497 0.392441" xyz="0.00558253 0.0192068 0.0623853"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrFL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/FrontLeft_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
<origin rpy="0 0 0" xyz="0.07025 0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFsrRL_frame">
<collision>
<geometry>
<box size="0.01 0.01 0.005"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="2e-06"/>
<inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
</inertial>
</link>
<joint name="LFoot/FSR/RearLeft_sensor_fixedjoint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRL_frame"/>
<origin rpy="0 0 0" xyz="-0.03025 0.0299 -0.04511"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RHandTouchLeft_frame"/>
<joint name="RHand/Touch/Left_sensor_fixedjoint" type="fixed">
<parent link="r_wrist"/>
<child link="RHandTouchLeft_frame"/>
<origin rpy="0 0 1.5708" xyz="0.032 0.025 0.003"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraBottom_frame"/>
<joint name="CameraBottom_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="CameraBottom_frame"/>
<origin rpy="0 0.692896 0" xyz="0.05071 0 0.01774"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraTop_frame"/>
<joint name="CameraTop_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="CameraTop_frame"/>
<origin rpy="0 0.0209435 0" xyz="0.05871 0 0.06364"/>
<axis xyz="0 0 0"/>
</joint>
<link name="CameraTop_optical_frame"/>
<joint name="CameraTop_optical_frame_fixedjoint" type="fixed">
<parent link="CameraTop_frame"/>
<child link="CameraTop_optical_frame"/>
<origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
</joint>
<link name="LInfraRed_frame"/>
<joint name="InfraredL_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="LInfraRed_frame"/>
<origin rpy="0 0 0" xyz="0.0441 0.0257 0.0466"/>
<axis xyz="0 0 0"/>
</joint>
<link name="ImuTorsoGyrometer_frame"/>
<joint name="Gyrometer_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="ImuTorsoGyrometer_frame"/>
<origin rpy="0 0 0" xyz="-0.008 0.006 0.029"/>
<axis xyz="0 0 0"/>
</joint>
<link name="MicroFrontCenter_frame"/>
<joint name="MicroFront_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="MicroFrontCenter_frame"/>
<origin rpy="0 0 0" xyz="0.041 0 0.091"/>
<axis xyz="0 0 0"/>
</joint>
<link name="HeadTouchRear_frame"/>
<joint name="Head/Touch/Rear_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="HeadTouchRear_frame"/>
<origin rpy="3.14159 -1.33319 -3.14159" xyz="-0.0257 0 0.1045"/>
<axis xyz="0 0 0"/>
</joint>
<link name="HeadTouchMiddle_frame"/>
<joint name="Head/Touch/Middle_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="HeadTouchMiddle_frame"/>
<origin rpy="3.14159 -1.57079 -3.14159" xyz="0.001 0 0.1099"/>
<axis xyz="0 0 0"/>
</joint>
<link name="RInfraRed_frame"/>
<joint name="InfraredR_sensor_fixedjoint" type="fixed">
<parent link="Head"/>
<child link="RInfraRed_frame"/>
<origin rpy="0 0 0" xyz="0.0441 -0.0257 0.0466"/>
<axis xyz="0 0 0"/>
</joint>
<link name="ChestButton_frame"/>
<joint name="ChestBoard/Button_sensor_fixedjoint" type="fixed">
<parent link="torso"/>
<child link="ChestButton_frame"/>
<origin rpy="0 0 0" xyz="0.049871 0.001588 0.055163"/>
<axis xyz="0 0 0"/>
</joint>
<link name="LFootBumperLeft_frame"/>