Romeo
Aldebaran Robotics · licence BSD · source: github.com/ros-aldebaran/romeo_robot @ 0.1.5
What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.
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robot.urdf
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content d4fcb3bda1efde11 -->
<robot name="RomeoH37">
<joint name="NeckYaw" type="revolute">
<origin xyz="0.0548 0.0 0.1675" rpy="0.0 -2.98023e-08 0.0" />
<parent link="torso" />
<child link="NeckYaw_link" />
<axis xyz="0.173651 0.0 0.984807" />
<limit effort="7.324" velocity="4.0" lower="-2.0595" upper="2.0595" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="NeckYaw_link">
<inertial>
<origin xyz="-0.00635646 0.0 -0.030002" rpy="0.0 0.0 0.0" />
<mass value="0.377845" />
<inertia ixx="0.000279258" ixy="-3.10908e-07" ixz="-1.49231e-05" iyy="0.000260188" iyz="-8.07538e-07" izz="8.41479e-05" />
</inertial>
</link>
<joint name="NeckPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 -2.98023e-08 0.0" />
<parent link="NeckYaw_link" />
<child link="NeckPitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="5.956" velocity="2.2" lower="-0.3142" upper="0.6632" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="NeckPitch_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/NeckPitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/NeckPitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.00372 0.0 0.04811" rpy="0.0 0.0 0.0" />
<mass value="0.345282" />
<inertia ixx="0.000476367" ixy="-1.93678e-06" ixz="0.000128915" iyy="0.000443007" iyz="5.81865e-05" izz="0.000304636" />
</inertial>
</link>
<joint name="HeadPitch" type="revolute">
<origin xyz="0.0 0.0 0.0951" rpy="0.0 0.0 0.0" />
<parent link="NeckPitch_link" />
<child link="HeadPitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="2.57" velocity="1.9" lower="-0.2571" upper="0.2971" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HeadPitch_link">
<inertial>
<origin xyz="0.0014 0.0 -0.00462" rpy="0.0 0.0 0.0" />
<mass value="0.158407" />
<inertia ixx="2.57346e-05" ixy="1.51196e-07" ixz="-1.52238e-05" iyy="7.43865e-05" iyz="-4.91562e-09" izz="6.6769e-05" />
</inertial>
</link>
<joint name="HeadRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="HeadPitch_link" />
<child link="HeadRoll_link" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="3.748" velocity="1.5" lower="-0.4887" upper="0.4887" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="HeadRoll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/HeadRoll.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/HeadRoll_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01263 0.0 0.07498" rpy="0.0 0.0 0.0" />
<mass value="2.07047" />
<inertia ixx="0.00933153" ixy="-3.87986e-05" ixz="0.002764" iyy="0.0110877" iyz="0.000300351" izz="0.00918888" />
</inertial>
</link>
<joint name="gaze_joint" type="fixed">
<origin xyz="0.10247 0.0 0.05425" rpy="0.0 0.0 0.0" />
<parent link="HeadRoll_link" />
<child link="gaze" />
</joint>
<link name="gaze" />
<joint name="LHipYaw" type="revolute">
<origin xyz="0.05 0.096 -0.3375" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="LHipYaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="25.42" velocity="1.045" lower="-0.2618" upper="0.2618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LHipYaw_link">
<inertial>
<origin xyz="-0.00922 -0.00167 0.042" rpy="0.0 0.0 0.0" />
<mass value="0.559188" />
<inertia ixx="0.000865336" ixy="-1.1052e-06" ixz="-0.000251445" iyy="0.00143007" iyz="4.25093e-06" izz="0.000851928" />
</inertial>
</link>
<joint name="LHipRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LHipYaw_link" />
<child link="LHip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="46.6" velocity="2.09" lower="-0.2618" upper="0.5236" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LHip">
<inertial>
<origin xyz="0.00249 -0.00205 -0.00147" rpy="0.0 0.0 0.0" />
<mass value="0.714778" />
<inertia ixx="0.000937272" ixy="-6.73228e-06" ixz="-2.02714e-06" iyy="0.000548117" iyz="1.34974e-06" izz="0.00101855" />
</inertial>
</link>
<joint name="LHipPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LHip" />
<child link="LThigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="46.6" velocity="2.09" lower="-1.6581" upper="0.4014" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LThigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LHipPitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LHipPitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02138 -0.00255 -0.14577" rpy="0.0 0.0 0.0" />
<mass value="4.71096" />
<inertia ixx="0.0390706" ixy="-2.41786e-05" ixz="0.0250104" iyy="0.0395116" iyz="0.000712271" izz="0.0122599" />
</inertial>
</link>
<joint name="LKneePitch" type="revolute">
<origin xyz="0.0 0.0 -0.322" rpy="0.0 0.0 0.0" />
<parent link="LThigh" />
<child link="LTibia" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="38.17" velocity="6.0" lower="-0.0218" upper="1.9722" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LTibia">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LKneePitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LKneePitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00415 -0.00054 -0.11011" rpy="0.0 0.0 0.0" />
<mass value="2.72291" />
<inertia ixx="0.0159124" ixy="5.49385e-08" ixz="0.00301963" iyy="0.0158076" iyz="-6.1473e-06" izz="0.00369233" />
</inertial>
</link>
<joint name="LAnklePitch" type="revolute">
<origin xyz="0.0 0.0 -0.29" rpy="0.0 0.0 0.0" />
<parent link="LTibia" />
<child link="LAnklePitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.76" velocity="2.1" lower="-0.5149" upper="0.7505" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LAnklePitch_link">
<inertial>
<origin xyz="0.00132 -0.00117 0.00015" rpy="0.0 0.0 0.0" />
<mass value="0.464512" />
<inertia ixx="0.000367336" ixy="-1.174e-07" ixz="1.0441e-07" iyy="0.000239298" iyz="-1.23189e-06" izz="0.000425531" />
</inertial>
</link>
<joint name="LAnkleRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LAnklePitch_link" />
<child link="l_ankle" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.76" velocity="2.1" lower="-0.3491" upper="0.3491" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_ankle">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LAnkleRoll.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LAnkleRoll_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0483878 0.00120158 -0.0367645" rpy="0.0 0.0 0.0" />
<mass value="1.06764" />
<inertia ixx="0.000978167" ixy="-4.97135e-05" ixz="-0.000879138" iyy="0.00586633" iyz="6.13291e-05" izz="0.00589599" />
</inertial>
</link>
<joint name="LLeg_effector_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 -0.0651" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="l_sole" />
</joint>
<link name="l_sole" />
<joint name="RHipYaw" type="revolute">
<origin xyz="0.05 -0.096 -0.3375" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="RHipYaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="25.42" velocity="1.045" lower="-0.2618" upper="0.2618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RHipYaw_link">
<inertial>
<origin xyz="-0.00922 0.00167 0.042" rpy="0.0 0.0 0.0" />
<mass value="0.559188" />
<inertia ixx="0.000865336" ixy="-1.83253e-05" ixz="-0.000251445" iyy="0.00143007" iyz="8.26938e-05" izz="0.000851928" />
</inertial>
</link>
<joint name="RHipRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RHipYaw_link" />
<child link="RHip" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="46.6" velocity="2.09" lower="-0.5236" upper="0.2618" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RHip">
<inertial>
<origin xyz="0.00249 0.00205 -0.00147" rpy="0.0 0.0 0.0" />
<mass value="0.714778" />
<inertia ixx="0.000937272" ixy="5.64884e-07" ixz="-2.02714e-06" iyy="0.000548117" iyz="-2.95823e-06" izz="0.00101855" />
</inertial>
</link>
<joint name="RHipPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RHip" />
<child link="RThigh" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="46.6" velocity="2.09" lower="-1.6581" upper="0.4014" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RThigh">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RHipPitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RHipPitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.02138 0.00255 -0.14577" rpy="0.0 0.0 0.0" />
<mass value="4.71096" />
<inertia ixx="0.0390706" ixy="-0.000537853" ixz="0.0250104" iyy="0.0395116" iyz="-0.00278999" izz="0.0122599" />
</inertial>
</link>
<joint name="RKneePitch" type="revolute">
<origin xyz="0.0 0.0 -0.322" rpy="0.0 0.0 0.0" />
<parent link="RThigh" />
<child link="RTibia" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="38.17" velocity="6.0" lower="-0.0218" upper="1.9722" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RTibia">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RKneePitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RKneePitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00415 0.00054 -0.11011" rpy="0.0 0.0 0.0" />
<mass value="2.72291" />
<inertia ixx="0.0159124" ixy="-1.21492e-05" ixz="0.00301963" iyy="0.0158076" iyz="-0.000329953" izz="0.00369233" />
</inertial>
</link>
<joint name="RAnklePitch" type="revolute">
<origin xyz="0.0 0.0 -0.29" rpy="0.0 0.0 0.0" />
<parent link="RTibia" />
<child link="RAnklePitch_link" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="25.76" velocity="2.1" lower="-0.5149" upper="0.7505" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RAnklePitch_link">
<inertial>
<origin xyz="0.00132 0.00117 0.00015" rpy="0.0 0.0 0.0" />
<mass value="0.464512" />
<inertia ixx="0.000367336" ixy="1.31739e-06" ixz="1.0441e-07" iyy="0.000239298" iyz="-1.06885e-06" izz="0.000425531" />
</inertial>
</link>
<joint name="RAnkleRoll" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RAnklePitch_link" />
<child link="r_ankle" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="25.76" velocity="2.1" lower="-0.3491" upper="0.3491" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_ankle">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RAnkleRoll.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RAnkleRoll_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0483878 -0.00120158 -0.0367645" rpy="0.0 0.0 0.0" />
<mass value="1.06764" />
<inertia ixx="0.000978167" ixy="-0.000173863" ixz="-0.000879138" iyy="0.00586633" iyz="0.000155656" izz="0.00589599" />
</inertial>
</link>
<joint name="RLeg_effector_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 -0.0651" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="r_sole" />
</joint>
<link name="r_sole" />
<link name="base_link" />
<joint name="base_link_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="base_link" />
<child link="torso" />
</joint>
<link name="torso">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/Torso.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/Torso_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.01512 0.0 0.06743" rpy="0.0 0.0 0.0" />
<mass value="5.85463" />
<inertia ixx="0.0587116" ixy="-3.02711e-06" ixz="0.0101426" iyy="0.0326812" iyz="-0.000132541" izz="0.0637705" />
</inertial>
</link>
<joint name="TrunkYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="torso" />
<child link="body" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="28.021" velocity="1.5" lower="-0.7575" upper="0.7575" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="body">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/TrunkYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/TrunkYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.02825 0.0 -0.16653" rpy="0.0 0.0 0.0" />
<mass value="5.11337" />
<inertia ixx="0.0564204" ixy="7.26322e-05" ixz="-0.0575115" iyy="0.0521042" iyz="-3.39086e-05" izz="0.021185" />
</inertial>
</link>
<joint name="LShoulderPitch" type="revolute">
<origin xyz="0.049862 0.19 0.073851" rpy="1.49012e-08 7.45058e-09 0.0" />
<parent link="torso" />
<child link="LShoulder" />
<axis xyz="0.417025 0.895055 -0.15801" />
<limit effort="19.095" velocity="2.2" lower="-1.3491" upper="2.2462" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LShoulder">
<inertial>
<origin xyz="-0.0112798 -0.0260712 0.00468882" rpy="0.0 0.0 0.0" />
<mass value="0.541429" />
<inertia ixx="0.00033428" ixy="-9.92972e-05" ixz="9.98217e-06" iyy="0.000188073" iyz="2.14339e-05" izz="0.000360929" />
</inertial>
</link>
<joint name="LShoulderYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="2.98023e-08 1.11759e-08 -5.58793e-08" />
<parent link="LShoulder" />
<child link="LShoulderYaw_link" />
<axis xyz="0.0401398 0.155542 0.987013" />
<limit effort="9.031" velocity="4.0" lower="-0.5768" upper="0.9242" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LShoulderYaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LShoulderYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LShoulderYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0965281 0.00465308 0.00168775" rpy="0.0 0.0 0.0" />
<mass value="0.861545" />
<inertia ixx="0.00118557" ixy="0.000596133" ixz="0.0011173" iyy="0.00312162" iyz="-2.05919e-05" izz="0.00289955" />
</inertial>
</link>
<joint name="LElbowRoll" type="revolute">
<origin xyz="0.210824 7.40511e-09 -0.008631" rpy="-2.56114e-09 0.0 -9.31322e-09" />
<parent link="LShoulderYaw_link" />
<child link="LForeArm" />
<axis xyz="0.998889 0.0139984 0.044995" />
<limit effort="7.404" velocity="3.7" lower="-2.2148" upper="1.9042" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LForeArm">
<inertial>
<origin xyz="-0.0348859 -0.0011589 -0.00148134" rpy="0.0 0.0 0.0" />
<mass value="0.600439" />
<inertia ixx="0.000207598" ixy="1.2053e-05" ixz="-1.86312e-05" iyy="0.000507683" iyz="1.56171e-06" izz="0.000456309" />
</inertial>
</link>
<joint name="LElbowYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-1.49504e-08 -1.86264e-08 2.12577e-09" />
<parent link="LForeArm" />
<child link="LElbow" />
<axis xyz="-0.0449994 0.0 0.998987" />
<limit effort="6.02" velocity="4.0" lower="-1.5228" upper="0.0044" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LElbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LElbowYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LElbowYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.068523 0.0097 0.00458766" rpy="0.0 0.0 0.0" />
<mass value="0.460203" />
<inertia ixx="0.000503576" ixy="0.000585803" ixz="3.19975e-05" iyy="0.00127777" iyz="3.67296e-05" izz="0.00122813" />
</inertial>
</link>
<joint name="LWristRoll" type="revolute">
<origin xyz="0.190404 0.0 0.008631" rpy="0.0 -7.45058e-09 0.0" />
<parent link="LElbow" />
<child link="LWristRoll_link" />
<axis xyz="0.998987 0.0 0.0449994" />
<limit effort="2.177" velocity="1.1" lower="-3.6303" upper="0.4887" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LWristRoll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LWristRoll.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LWristRoll_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0592449 6e-05 -0.00144745" rpy="0.0 0.0 0.0" />
<mass value="0.218316" />
<inertia ixx="0.000100812" ixy="-1.81881e-06" ixz="-4.56681e-05" iyy="0.000384336" iyz="-1.11019e-07" izz="0.000366084" />
</inertial>
</link>
<joint name="LWristYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LWristRoll_link" />
<child link="LWristYaw_link" />
<axis xyz="-0.0449994 0.0 0.998987" />
<limit effort="0.862" velocity="2.26" lower="-0.4014" upper="0.4014" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LWristYaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LWristYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LWristYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00657144 0.00017 -0.000115829" rpy="0.0 0.0 0.0" />
<mass value="0.0758774" />
<inertia ixx="1.55687e-05" ixy="-5.1829e-08" ixz="-8.72923e-07" iyy="3.52487e-05" iyz="1.94513e-08" izz="3.4791e-05" />
</inertial>
</link>
<joint name="LWristPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LWristYaw_link" />
<child link="l_wrist" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.6" velocity="3.75" lower="-0.988" upper="0.8969" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LWristPitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LWristPitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.07358 -0.00628 -0.00098" rpy="0.0 0.0 0.0" />
<mass value="0.442191" />
<inertia ixx="0.000404603" ixy="-0.000404247" ixz="1.89685e-05" iyy="0.000829354" iyz="7.81042e-05" izz="0.00102014" />
</inertial>
</link>
<joint name="LHand" type="revolute">
<origin xyz="-0.0579412 -0.0159 -0.00260997" rpy="1.5708 0.0450146 -3.14159" />
<parent link="l_wrist" />
<child link="l_gripper" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.649997" velocity="59.8925" lower="0.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="l_gripper">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RShoulderPitch" type="revolute">
<origin xyz="0.049862 -0.19 0.073851" rpy="-1.49012e-08 7.45058e-09 0.0" />
<parent link="torso" />
<child link="RShoulder" />
<axis xyz="-0.417025 0.895055 0.15801" />
<limit effort="19.095" velocity="2.2" lower="-1.4554" upper="2.1399" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RShoulder">
<inertial>
<origin xyz="-0.0112798 0.0260712 0.00468882" rpy="0.0 0.0 0.0" />
<mass value="0.541429" />
<inertia ixx="0.00032868" ixy="0.000102539" ixz="1.9336e-05" iyy="0.000199958" iyz="-3.81835e-05" izz="0.000354645" />
</inertial>
</link>
<joint name="RShoulderYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="-2.98023e-08 1.49012e-08 -6.42613e-08" />
<parent link="RShoulder" />
<child link="RShoulderYaw_link" />
<axis xyz="0.0401398 -0.155542 0.987014" />
<limit effort="9.031" velocity="4.0" lower="-1.0985" upper="0.4025" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RShoulderYaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RShoulderYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RShoulderYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0965281 -0.00465308 0.00168775" rpy="0.0 0.0 0.0" />
<mass value="0.861545" />
<inertia ixx="0.00118857" ixy="-0.00036285" ixz="0.001154" iyy="0.00311916" iyz="1.86519e-05" izz="0.002899" />
</inertial>
</link>
<joint name="RElbowRoll" type="revolute">
<origin xyz="0.210824 -1.48548e-08 -0.008631" rpy="6.69388e-09 7.45058e-09 -7.91624e-08" />
<parent link="RShoulderYaw_link" />
<child link="RForeArm" />
<axis xyz="0.998889 -0.0139984 0.044995" />
<limit effort="7.404" velocity="3.7" lower="-1.9047" upper="2.2143" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RForeArm">
<inertial>
<origin xyz="-0.0348859 0.0011589 -0.00148134" rpy="0.0 0.0 0.0" />
<mass value="0.600439" />
<inertia ixx="0.000207722" ixy="-7.62167e-06" ixz="-1.85932e-05" iyy="0.000507556" iyz="9.54211e-07" izz="0.000456313" />
</inertial>
</link>
<joint name="RElbowYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="1.49504e-08 -1.86264e-08 -2.12577e-09" />
<parent link="RForeArm" />
<child link="RElbow" />
<axis xyz="-0.0449994 0.0 0.998987" />
<limit effort="6.02" velocity="4.0" lower="-0.0047" upper="1.5225" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RElbow">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RElbowYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RElbowYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.068523 -0.0097 0.00458766" rpy="0.0 0.0 0.0" />
<mass value="0.460203" />
<inertia ixx="0.000503576" ixy="-2.59661e-05" ixz="3.19975e-05" iyy="0.00127777" iyz="-4.2287e-06" izz="0.00122813" />
</inertial>
</link>
<joint name="RWristRoll" type="revolute">
<origin xyz="0.190404 0.0 0.008631" rpy="0.0 -7.45058e-09 0.0" />
<parent link="RElbow" />
<child link="RWristRoll_link" />
<axis xyz="0.998987 0.0 0.0449994" />
<limit effort="2.177" velocity="1.1" lower="-0.4887" upper="3.6303" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RWristRoll_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RWristRoll.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RWristRoll_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.0592449 -6e-05 -0.00144745" rpy="0.0 0.0 0.0" />
<mass value="0.218316" />
<inertia ixx="0.000100812" ixy="-2.66721e-07" ixz="-4.56681e-05" iyy="0.000384336" iyz="-7.30984e-08" izz="0.000366084" />
</inertial>
</link>
<joint name="RWristYaw" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RWristRoll_link" />
<child link="RWristYaw_link" />
<axis xyz="-0.0449994 0.0 0.998987" />
<limit effort="0.862" velocity="2.26" lower="-0.4014" upper="0.4014" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RWristYaw_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RWristYaw.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RWristYaw_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="-0.00657144 -0.00017 -0.000115829" rpy="0.0 0.0 0.0" />
<mass value="0.0758774" />
<inertia ixx="1.55687e-05" ixy="1.17703e-07" ixz="-8.72923e-07" iyy="3.52487e-05" iyz="2.24395e-08" izz="3.4791e-05" />
</inertial>
</link>
<joint name="RWristPitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="RWristYaw_link" />
<child link="r_wrist" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.6" velocity="3.75" lower="-0.9868" upper="0.8981" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_wrist">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RWristPitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RWristPitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.07358 0.00628 -0.00098" rpy="0.0 0.0 0.0" />
<mass value="0.442191" />
<inertia ixx="0.000404603" ixy="4.4107e-06" ixz="1.89685e-05" iyy="0.000829354" iyz="7.26613e-05" izz="0.00102014" />
</inertial>
</link>
<joint name="RHand" type="revolute">
<origin xyz="-0.0579412 -0.0159 -0.00260997" rpy="1.5708 0.0450146 -3.14159" />
<parent link="r_wrist" />
<child link="r_gripper" />
<axis xyz="1.0 0.0 0.0" />
<limit effort="0.649997" velocity="59.8925" lower="0.0" upper="1.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="r_gripper">
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LEyeYaw" type="revolute">
<origin xyz="0.08948 0.03192 0.05425" rpy="0.0 0.0 0.0" />
<parent link="HeadRoll_link" />
<child link="LEyeYaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.01752" velocity="293.215" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LEyeYaw_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 1.5708" />
<mass value="0.01" />
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09" />
</inertial>
</link>
<joint name="LEyePitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LEyeYaw_link" />
<child link="LEye" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.01752" velocity="293.215" lower="-0.349066" upper="0.349066" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LEye">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LEyePitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LEyePitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 -0.0 -3.14159" />
<mass value="0.01" />
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09" />
</inertial>
</link>
<joint name="REyeYaw" type="revolute">
<origin xyz="0.08948 -0.03192 0.05425" rpy="0.0 0.0 0.0" />
<parent link="HeadRoll_link" />
<child link="REyeYaw_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.01752" velocity="293.215" lower="-0.523599" upper="0.523599" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="REyeYaw_link">
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 -0.0 1.5708" />
<mass value="0.01" />
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09" />
</inertial>
</link>
<joint name="REyePitch" type="revolute">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="REyeYaw_link" />
<child link="REye" />
<axis xyz="0.0 1.0 0.0" />
<limit effort="0.01752" velocity="293.215" lower="-0.349066" upper="0.349066" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="REye">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/REyePitch.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/REyePitch_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="1.5708 -0.0 -3.14159" />
<mass value="0.01" />
<inertia ixx="1e-09" ixy="0.0" ixz="0.0" iyy="1e-09" iyz="0.0" izz="1e-09" />
</inertial>
</link>
<link name="RFsrFToeRearRight_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/ToeRearRight_sensor_fixedjoint" type="fixed">
<origin xyz="0.11898 -0.0335 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrFToeRearRight_frame" />
</joint>
<link name="CameraLeftEye_frame" />
<joint name="CameraLeftEye_sensor_fixedjoint" type="fixed">
<origin xyz="0.01299 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="LEye" />
<child link="CameraLeftEye_frame" />
</joint>
<link name="ImuHeadGyrometer_frame" />
<joint name="GyrometerHead_sensor_fixedjoint" type="fixed">
<origin xyz="-0.01135 -0.04225 0.16011" rpy="0.0 0.0 1.5708" />
<parent link="HeadRoll_link" />
<child link="ImuHeadGyrometer_frame" />
</joint>
<link name="RFsrRearCenter_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/CenterRear_sensor_fixedjoint" type="fixed">
<origin xyz="0.01448 -0.0145 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrRearCenter_frame" />
</joint>
<link name="RFsrFrontCenter_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/CenterFront_sensor_fixedjoint" type="fixed">
<origin xyz="0.07498 -0.01275 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrFrontCenter_frame" />
</joint>
<link name="CameraLeftEye_optical_frame" />
<joint name="CameraLeftEye_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="CameraLeftEye_frame" />
<child link="CameraLeftEye_optical_frame" />
</joint>
<link name="LFsrHeelRight_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/HeelRight_sensor_fixedjoint" type="fixed">
<origin xyz="-0.04602 -0.017 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrHeelRight_frame" />
</joint>
<link name="CameraRightEye_frame" />
<joint name="CameraRightEye_sensor_fixedjoint" type="fixed">
<origin xyz="0.01299 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="REye" />
<child link="CameraRightEye_frame" />
</joint>
<link name="CameraRight_optical_frame" />
<joint name="CameraRight_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="CameraRight_frame" />
<child link="CameraRight_optical_frame" />
</joint>
<link name="CameraRightEye_optical_frame" />
<joint name="CameraRightEye_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="CameraRightEye_frame" />
<child link="CameraRightEye_optical_frame" />
</joint>
<link name="RFsrFToeFrontRight_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/ToeFrontRight_sensor_fixedjoint" type="fixed">
<origin xyz="0.16098 -0.024 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrFToeFrontRight_frame" />
</joint>
<link name="RFsrHeelRight_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/HeelRight_sensor_fixedjoint" type="fixed">
<origin xyz="-0.04602 -0.017 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrHeelRight_frame" />
</joint>
<link name="RFsrFToeRearLeft_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/ToeRearLeft_sensor_fixedjoint" type="fixed">
<origin xyz="0.12698 0.0315 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrFToeRearLeft_frame" />
</joint>
<link name="ImuTorsoAccelerometer_frame" />
<joint name="AccelerometerDownTorso_sensor_fixedjoint" type="fixed">
<origin xyz="0.06185 0.0087 -0.1582" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="ImuTorsoAccelerometer_frame" />
</joint>
<link name="LFsrFToeRearRight_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/ToeRearRight_sensor_fixedjoint" type="fixed">
<origin xyz="0.12698 -0.0315 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrFToeRearRight_frame" />
</joint>
<link name="LFsrHeelLeft_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/HeelLeft_sensor_fixedjoint" type="fixed">
<origin xyz="-0.04602 0.017 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrHeelLeft_frame" />
</joint>
<link name="CameraRight_frame" />
<joint name="CameraRight_sensor_fixedjoint" type="fixed">
<origin xyz="0.11229 -0.04 0.09938" rpy="0.0 0.0 0.0" />
<parent link="HeadRoll_link" />
<child link="CameraRight_frame" />
</joint>
<link name="ImuTorsoGyrometer_frame" />
<joint name="GyrometerDownTorso_sensor_fixedjoint" type="fixed">
<origin xyz="0.06185 0.0087 -0.1582" rpy="0.0 0.0 0.0" />
<parent link="body" />
<child link="ImuTorsoGyrometer_frame" />
</joint>
<link name="LFsrFToeRearLeft_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/ToeRearLeft_sensor_fixedjoint" type="fixed">
<origin xyz="0.11898 0.0335 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrFToeRearLeft_frame" />
</joint>
<link name="LFsrRearCenter_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/CenterRear_sensor_fixedjoint" type="fixed">
<origin xyz="0.01448 0.0145 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrRearCenter_frame" />
</joint>
<link name="CameraLeft_frame" />
<joint name="CameraLeft_sensor_fixedjoint" type="fixed">
<origin xyz="0.11229 0.04 0.09938" rpy="0.0 0.0 0.0" />
<parent link="HeadRoll_link" />
<child link="CameraLeft_frame" />
</joint>
<link name="CameraLeft_optical_frame" />
<joint name="CameraLeft_optical_frame_fixedjoint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="-1.57079632679 0.0 -1.57079632679" />
<parent link="CameraLeft_frame" />
<child link="CameraLeft_optical_frame" />
</joint>
<link name="LFsrFToeFrontRight_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/ToeFrontRight_sensor_fixedjoint" type="fixed">
<origin xyz="0.17298 -0.023 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrFToeFrontRight_frame" />
</joint>
<link name="RFsrHeelLeft_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/HeelLeft_sensor_fixedjoint" type="fixed">
<origin xyz="-0.04602 0.017 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrHeelLeft_frame" />
</joint>
<link name="ImuHeadAccelerometer_frame" />
<joint name="AccelerometerHead_sensor_fixedjoint" type="fixed">
<origin xyz="-0.01135 -0.04225 0.16011" rpy="0.0 0.0 1.5708" />
<parent link="HeadRoll_link" />
<child link="ImuHeadAccelerometer_frame" />
</joint>
<link name="LFsrFrontCenter_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/CenterFront_sensor_fixedjoint" type="fixed">
<origin xyz="0.07498 0.01275 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrFrontCenter_frame" />
</joint>
<link name="RFsrFToeFrontLeft_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFoot/FSR/ToeFrontLeft_sensor_fixedjoint" type="fixed">
<origin xyz="0.17298 0.023 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="r_ankle" />
<child link="RFsrFToeFrontLeft_frame" />
</joint>
<link name="LFsrFToeFrontLeft_frame">
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.01 0.01 0.005" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFoot/FSR/ToeFrontLeft_sensor_fixedjoint" type="fixed">
<origin xyz="0.16098 0.024 -0.06226" rpy="0.0 0.0 0.0" />
<parent link="l_ankle" />
<child link="LFsrFToeFrontLeft_frame" />
</joint>
<link name="RFinger13_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger13.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger13_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger13" type="continuous">
<origin xyz="0.0 0.0230916 -5.90086e-06" rpy="0.0 0.0 0.0" />
<parent link="RFinger12_link" />
<child link="RFinger13_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger12_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger12.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger12_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger12" type="continuous">
<origin xyz="0.0 0.0230929 4.02331e-06" rpy="0.0 0.0 0.0" />
<parent link="RFinger11_link" />
<child link="RFinger12_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger33_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger33.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger33_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger33" type="continuous">
<origin xyz="0.0 0.0230916 -5.91576e-06" rpy="0.0 0.0 0.0" />
<parent link="LFinger32_link" />
<child link="LFinger33_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger31_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger31.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger31_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger31" type="continuous">
<origin xyz="0.11215 -0.03024 0.00999" rpy="1.69304 1.5708 3.14159" />
<parent link="r_wrist" />
<child link="RFinger31_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger32_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger32.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger32_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger32" type="continuous">
<origin xyz="0.0 -0.0230929 -4.02331e-06" rpy="0.0 0.0 0.0" />
<parent link="RFinger31_link" />
<child link="RFinger32_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger21_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger21.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger21_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger21" type="continuous">
<origin xyz="0.12934 0.0 0.01499" rpy="1.5708 1.5708 3.14159" />
<parent link="l_wrist" />
<child link="LFinger21_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger13_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger13.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger13_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger13" type="continuous">
<origin xyz="0.0 -0.0230916 5.90086e-06" rpy="0.0 0.0 0.0" />
<parent link="LFinger12_link" />
<child link="LFinger13_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger32_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger32.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger32_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger32" type="continuous">
<origin xyz="0.0 0.0230928 4.02331e-06" rpy="0.0 0.0 0.0" />
<parent link="LFinger31_link" />
<child link="LFinger32_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger11_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger11.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger11_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger11" type="continuous">
<origin xyz="0.12385 -0.03024 0.00999" rpy="1.69304 1.5708 3.14159" />
<parent link="l_wrist" />
<child link="LFinger11_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger22_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger22.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger22_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger22" type="continuous">
<origin xyz="0.0 0.02309 0.0" rpy="0.0 0.0 0.0" />
<parent link="RFinger21_link" />
<child link="RFinger22_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger22_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger22.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger22_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger22" type="continuous">
<origin xyz="0.0 -0.02309 0.0" rpy="0.0 0.0 0.0" />
<parent link="LFinger21_link" />
<child link="LFinger22_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger21_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger21.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger21_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger21" type="continuous">
<origin xyz="0.12934 0.0 0.01499" rpy="1.5708 -1.5708 -3.14159" />
<parent link="r_wrist" />
<child link="RFinger21_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger12_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger12.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger12_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger12" type="continuous">
<origin xyz="0.0 -0.0230929 -4.02331e-06" rpy="0.0 0.0 0.0" />
<parent link="LFinger11_link" />
<child link="LFinger12_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger23_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger23.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger23_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger23" type="continuous">
<origin xyz="0.0 0.02309 0.0" rpy="0.0 0.0 0.0" />
<parent link="RFinger22_link" />
<child link="RFinger23_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger11_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger11.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger11_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger11" type="continuous">
<origin xyz="0.12385 0.03024 0.00999" rpy="1.69304 -1.5708 3.14159" />
<parent link="r_wrist" />
<child link="RFinger11_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger23_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger23.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger23_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger23" type="continuous">
<origin xyz="0.0 -0.02309 0.0" rpy="0.0 0.0 0.0" />
<parent link="LFinger22_link" />
<child link="LFinger23_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LFinger31_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger31.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LFinger31_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LFinger31" type="continuous">
<origin xyz="0.11215 0.03024 0.00999" rpy="1.69304 -1.5708 3.14159" />
<parent link="l_wrist" />
<child link="LFinger31_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RFinger33_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger33.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RFinger33_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RFinger33" type="continuous">
<origin xyz="0.0 -0.0230916 5.90086e-06" rpy="0.0 0.0 0.0" />
<parent link="RFinger32_link" />
<child link="RFinger33_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LThumb3_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LThumb3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LThumb3_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LThumb3" type="continuous">
<origin xyz="0.0187362 0.0135152 5.21541e-06" rpy="-5.96047e-08 0.0 1.49012e-08" />
<parent link="LThumb2_link" />
<child link="LThumb3_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LThumb1_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LThumb1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LThumb1_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LThumb1" type="continuous">
<origin xyz="0.0624 -0.03131 -0.00574" rpy="-2.97779 1.21665 -3.14159" />
<parent link="l_wrist" />
<child link="LThumb1_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RThumb1_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RThumb1.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RThumb1_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RThumb1" type="continuous">
<origin xyz="0.0624 0.03131 -0.00574" rpy="0.1638 -1.21665 0.0" />
<parent link="r_wrist" />
<child link="RThumb1_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RThumb2_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RThumb2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RThumb2_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RThumb2" type="continuous">
<origin xyz="-0.000329241 0.0388865 -0.017011" rpy="1.13316 0.0 -1.80698" />
<parent link="RThumb1_link" />
<child link="RThumb2_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="LThumb2_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LThumb2.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/LThumb2_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="LThumb2" type="continuous">
<origin xyz="0.000329241 -0.0388865 0.017011" rpy="1.13316 7.45058e-09 -1.80698" />
<parent link="LThumb1_link" />
<child link="LThumb2_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="RThumb3_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RThumb3.dae" />
</geometry>
</visual>
<collision>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/RThumb3_0.10.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0.0 0.0 0.0" />
<mass value="2e-06" />
<inertia ixx="1.1e-09" ixy="0.0" ixz="0.0" iyy="1.1e-09" iyz="0.0" izz="1.1e-09" />
</inertial>
</link>
<joint name="RThumb3" type="continuous">
<origin xyz="-0.0187362 -0.0135152 -5.21541e-06" rpy="-5.96047e-08 -1.49012e-08 1.49012e-08" />
<parent link="RThumb2_link" />
<child link="RThumb3_link" />
<axis xyz="0.0 0.0 1.0" />
<limit effort="0.0" velocity="0.0" />
<dynamics damping="0.0" friction="0.0" />
</joint>
<link name="CameraDepth_frame" />
<joint name="CameraDepth_joint" type="fixed">
<origin xyz="0.1403 -0.04708 0.14655" rpy="2.0043951 0.0 1.57079632679" />
<parent link="HeadRoll_link" />
<child link="CameraDepth_frame" />
</joint>
<link name="Cap">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<mesh filename="package://romeo_description/meshes/Cap.dae" />
</geometry>
</visual>
<inertial>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<mass value="0.29923" />
<inertia ixx="0.000412832" ixy="-1.67846e-06" ixz="0.000111721" iyy="0.000383921" iyz="5.04259e-05" izz="0.000264006" />
</inertial>
</link>
<joint name="Cap_joint" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<parent link="HeadRoll_link" />
<child link="Cap" />
</joint>
</robot>
robot.xml
<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content d4fcb3bda1efde11 -->
<mujoco model="RomeoH37">
<compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
<asset>
<mesh name="NeckPitch" file="romeo_description/meshes/NeckPitch.dae" />
<mesh name="NeckPitch_0.10" file="romeo_description/meshes/NeckPitch_0.10.stl" />
<mesh name="HeadRoll" file="romeo_description/meshes/HeadRoll.dae" />
<mesh name="HeadRoll_0.10" file="romeo_description/meshes/HeadRoll_0.10.stl" />
<mesh name="LHipPitch" file="romeo_description/meshes/LHipPitch.dae" />
<mesh name="LHipPitch_0.10" file="romeo_description/meshes/LHipPitch_0.10.stl" />
<mesh name="LKneePitch" file="romeo_description/meshes/LKneePitch.dae" />
<mesh name="LKneePitch_0.10" file="romeo_description/meshes/LKneePitch_0.10.stl" />
<mesh name="LAnkleRoll" file="romeo_description/meshes/LAnkleRoll.dae" />
<mesh name="LAnkleRoll_0.10" file="romeo_description/meshes/LAnkleRoll_0.10.stl" />
<mesh name="RHipPitch" file="romeo_description/meshes/RHipPitch.dae" />
<mesh name="RHipPitch_0.10" file="romeo_description/meshes/RHipPitch_0.10.stl" />
<mesh name="RKneePitch" file="romeo_description/meshes/RKneePitch.dae" />
<mesh name="RKneePitch_0.10" file="romeo_description/meshes/RKneePitch_0.10.stl" />
<mesh name="RAnkleRoll" file="romeo_description/meshes/RAnkleRoll.dae" />
<mesh name="RAnkleRoll_0.10" file="romeo_description/meshes/RAnkleRoll_0.10.stl" />
<mesh name="Torso" file="romeo_description/meshes/Torso.dae" />
<mesh name="Torso_0.10" file="romeo_description/meshes/Torso_0.10.stl" />
<mesh name="TrunkYaw" file="romeo_description/meshes/TrunkYaw.dae" />
<mesh name="TrunkYaw_0.10" file="romeo_description/meshes/TrunkYaw_0.10.stl" />
<mesh name="LShoulderYaw" file="romeo_description/meshes/LShoulderYaw.dae" />
<mesh name="LShoulderYaw_0.10" file="romeo_description/meshes/LShoulderYaw_0.10.stl" />
<mesh name="LElbowYaw" file="romeo_description/meshes/LElbowYaw.dae" />
<mesh name="LElbowYaw_0.10" file="romeo_description/meshes/LElbowYaw_0.10.stl" />
<mesh name="LWristRoll" file="romeo_description/meshes/LWristRoll.dae" />
<mesh name="LWristRoll_0.10" file="romeo_description/meshes/LWristRoll_0.10.stl" />
<mesh name="LWristYaw" file="romeo_description/meshes/LWristYaw.dae" />
<mesh name="LWristYaw_0.10" file="romeo_description/meshes/LWristYaw_0.10.stl" />
<mesh name="LWristPitch" file="romeo_description/meshes/LWristPitch.dae" />
<mesh name="LWristPitch_0.10" file="romeo_description/meshes/LWristPitch_0.10.stl" />
<mesh name="RShoulderYaw" file="romeo_description/meshes/RShoulderYaw.dae" />
<mesh name="RShoulderYaw_0.10" file="romeo_description/meshes/RShoulderYaw_0.10.stl" />
<mesh name="RElbowYaw" file="romeo_description/meshes/RElbowYaw.dae" />
<mesh name="RElbowYaw_0.10" file="romeo_description/meshes/RElbowYaw_0.10.stl" />
<mesh name="RWristRoll" file="romeo_description/meshes/RWristRoll.dae" />
<mesh name="RWristRoll_0.10" file="romeo_description/meshes/RWristRoll_0.10.stl" />
<mesh name="RWristYaw" file="romeo_description/meshes/RWristYaw.dae" />
<mesh name="RWristYaw_0.10" file="romeo_description/meshes/RWristYaw_0.10.stl" />
<mesh name="RWristPitch" file="romeo_description/meshes/RWristPitch.dae" />
<mesh name="RWristPitch_0.10" file="romeo_description/meshes/RWristPitch_0.10.stl" />
<mesh name="LEyePitch" file="romeo_description/meshes/LEyePitch.dae" />
<mesh name="LEyePitch_0.10" file="romeo_description/meshes/LEyePitch_0.10.stl" />
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<geom name="RFinger11_link_col_0" type="mesh" mesh="RFinger11_0.10" group="3" />
<body name="RFinger12_link" pos="0.0 0.0230929 4.02331e-06">
<joint name="RFinger12" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger12_link_vis_0" type="mesh" mesh="RFinger12" contype="0" conaffinity="0" group="2" />
<geom name="RFinger12_link_col_0" type="mesh" mesh="RFinger12_0.10" group="3" />
<body name="RFinger13_link" pos="0.0 0.0230916 -5.90086e-06">
<joint name="RFinger13" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RFinger13_link_vis_0" type="mesh" mesh="RFinger13" contype="0" conaffinity="0" group="2" />
<geom name="RFinger13_link_col_0" type="mesh" mesh="RFinger13_0.10" group="3" />
</body>
</body>
</body>
<body name="RThumb1_link" pos="0.0624 0.03131 -0.00574" quat="0.8178558046845437 0.06713255723799282 -0.569578139223538 0.04675303007439329">
<joint name="RThumb1" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RThumb1_link_vis_0" type="mesh" mesh="RThumb1" contype="0" conaffinity="0" group="2" />
<geom name="RThumb1_link_col_0" type="mesh" mesh="RThumb1_0.10" group="3" />
<body name="RThumb2_link" pos="-0.000329241 0.0388865 -0.017011" quat="0.5221683633424284 0.33217949918201134 -0.42161227490645725 -0.6627518919593361">
<joint name="RThumb2" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RThumb2_link_vis_0" type="mesh" mesh="RThumb2" contype="0" conaffinity="0" group="2" />
<geom name="RThumb2_link_col_0" type="mesh" mesh="RThumb2_0.10" group="3" />
<body name="RThumb3_link" pos="-0.0187362 -0.0135152 -5.21541e-06" quat="0.9999999999999996 -2.980234994448855e-08 -7.450600222045386e-09 7.450599777954607e-09">
<joint name="RThumb3" type="hinge" axis="0.0 0.0 1.0" limited="false" />
<inertial pos="0.0 0.0 0.0" mass="2e-06" fullinertia="1.1e-09 1.1e-09 1.1e-09 0.0 0.0 0.0" />
<geom name="RThumb3_link_vis_0" type="mesh" mesh="RThumb3" contype="0" conaffinity="0" group="2" />
<geom name="RThumb3_link_col_0" type="mesh" mesh="RThumb3_0.10" group="3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="torso" body2="NeckYaw_link" />
<exclude body1="NeckYaw_link" body2="NeckPitch_link" />
<exclude body1="NeckPitch_link" body2="HeadPitch_link" />
<exclude body1="HeadPitch_link" body2="HeadRoll_link" />
<exclude body1="HeadRoll_link" body2="gaze" />
<exclude body1="body" body2="LHipYaw_link" />
<exclude body1="LHipYaw_link" body2="LHip" />
<exclude body1="LHip" body2="LThigh" />
<exclude body1="LThigh" body2="LTibia" />
<exclude body1="LTibia" body2="LAnklePitch_link" />
<exclude body1="LAnklePitch_link" body2="l_ankle" />
<exclude body1="l_ankle" body2="l_sole" />
<exclude body1="body" body2="RHipYaw_link" />
<exclude body1="RHipYaw_link" body2="RHip" />
<exclude body1="RHip" body2="RThigh" />
<exclude body1="RThigh" body2="RTibia" />
<exclude body1="RTibia" body2="RAnklePitch_link" />
<exclude body1="RAnklePitch_link" body2="r_ankle" />
<exclude body1="r_ankle" body2="r_sole" />
<exclude body1="base_link" body2="torso" />
<exclude body1="torso" body2="body" />
<exclude body1="torso" body2="LShoulder" />
<exclude body1="LShoulder" body2="LShoulderYaw_link" />
<exclude body1="LShoulderYaw_link" body2="LForeArm" />
<exclude body1="LForeArm" body2="LElbow" />
<exclude body1="LElbow" body2="LWristRoll_link" />
<exclude body1="LWristRoll_link" body2="LWristYaw_link" />
<exclude body1="LWristYaw_link" body2="l_wrist" />
<exclude body1="l_wrist" body2="l_gripper" />
<exclude body1="torso" body2="RShoulder" />
<exclude body1="RShoulder" body2="RShoulderYaw_link" />
<exclude body1="RShoulderYaw_link" body2="RForeArm" />
<exclude body1="RForeArm" body2="RElbow" />
<exclude body1="RElbow" body2="RWristRoll_link" />
<exclude body1="RWristRoll_link" body2="RWristYaw_link" />
<exclude body1="RWristYaw_link" body2="r_wrist" />
<exclude body1="r_wrist" body2="r_gripper" />
<exclude body1="HeadRoll_link" body2="LEyeYaw_link" />
<exclude body1="LEyeYaw_link" body2="LEye" />
<exclude body1="HeadRoll_link" body2="REyeYaw_link" />
<exclude body1="REyeYaw_link" body2="REye" />
<exclude body1="r_ankle" body2="RFsrFToeRearRight_frame" />
<exclude body1="LEye" body2="CameraLeftEye_frame" />
<exclude body1="HeadRoll_link" body2="ImuHeadGyrometer_frame" />
<exclude body1="r_ankle" body2="RFsrRearCenter_frame" />
<exclude body1="r_ankle" body2="RFsrFrontCenter_frame" />
<exclude body1="CameraLeftEye_frame" body2="CameraLeftEye_optical_frame" />
<exclude body1="l_ankle" body2="LFsrHeelRight_frame" />
<exclude body1="REye" body2="CameraRightEye_frame" />
<exclude body1="CameraRight_frame" body2="CameraRight_optical_frame" />
<exclude body1="CameraRightEye_frame" body2="CameraRightEye_optical_frame" />
<exclude body1="r_ankle" body2="RFsrFToeFrontRight_frame" />
<exclude body1="r_ankle" body2="RFsrHeelRight_frame" />
<exclude body1="r_ankle" body2="RFsrFToeRearLeft_frame" />
<exclude body1="body" body2="ImuTorsoAccelerometer_frame" />
<exclude body1="l_ankle" body2="LFsrFToeRearRight_frame" />
<exclude body1="l_ankle" body2="LFsrHeelLeft_frame" />
<exclude body1="HeadRoll_link" body2="CameraRight_frame" />
<exclude body1="body" body2="ImuTorsoGyrometer_frame" />
<exclude body1="l_ankle" body2="LFsrFToeRearLeft_frame" />
<exclude body1="l_ankle" body2="LFsrRearCenter_frame" />
<exclude body1="HeadRoll_link" body2="CameraLeft_frame" />
<exclude body1="CameraLeft_frame" body2="CameraLeft_optical_frame" />
<exclude body1="l_ankle" body2="LFsrFToeFrontRight_frame" />
<exclude body1="r_ankle" body2="RFsrHeelLeft_frame" />
<exclude body1="HeadRoll_link" body2="ImuHeadAccelerometer_frame" />
<exclude body1="l_ankle" body2="LFsrFrontCenter_frame" />
<exclude body1="r_ankle" body2="RFsrFToeFrontLeft_frame" />
<exclude body1="l_ankle" body2="LFsrFToeFrontLeft_frame" />
<exclude body1="RFinger12_link" body2="RFinger13_link" />
<exclude body1="RFinger11_link" body2="RFinger12_link" />
<exclude body1="LFinger32_link" body2="LFinger33_link" />
<exclude body1="r_wrist" body2="RFinger31_link" />
<exclude body1="RFinger31_link" body2="RFinger32_link" />
<exclude body1="l_wrist" body2="LFinger21_link" />
<exclude body1="LFinger12_link" body2="LFinger13_link" />
<exclude body1="LFinger31_link" body2="LFinger32_link" />
<exclude body1="l_wrist" body2="LFinger11_link" />
<exclude body1="RFinger21_link" body2="RFinger22_link" />
<exclude body1="LFinger21_link" body2="LFinger22_link" />
<exclude body1="r_wrist" body2="RFinger21_link" />
<exclude body1="LFinger11_link" body2="LFinger12_link" />
<exclude body1="RFinger22_link" body2="RFinger23_link" />
<exclude body1="r_wrist" body2="RFinger11_link" />
<exclude body1="LFinger22_link" body2="LFinger23_link" />
<exclude body1="l_wrist" body2="LFinger31_link" />
<exclude body1="RFinger32_link" body2="RFinger33_link" />
<exclude body1="LThumb2_link" body2="LThumb3_link" />
<exclude body1="l_wrist" body2="LThumb1_link" />
<exclude body1="r_wrist" body2="RThumb1_link" />
<exclude body1="RThumb1_link" body2="RThumb2_link" />
<exclude body1="LThumb1_link" body2="LThumb2_link" />
<exclude body1="RThumb2_link" body2="RThumb3_link" />
<exclude body1="HeadRoll_link" body2="CameraDepth_frame" />
<exclude body1="HeadRoll_link" body2="Cap" />
</contact>
</mujoco>
Import report
Counts
| Links | 96 |
|---|---|
| Joints | 95 |
| Moving joints | 61 |
| Visuals | 47 |
| Collisions | 62 |
| Materials | 0 |
Meshes
Formats: dae, stl.
Asset size: 10.6 MB.
Dropped on import
| Tag | Count | Why |
|---|---|---|
axis | 27 | fixed joints carry no <axis>; URDF ignores it too |
gazebo | 58 | Gazebo simulator extensions are not part of the description |
limit | 24 | no <limit>; RobotDescription always writes one, so effort = velocity = 0 |
mimic | 24 | joint coupling (mimic) is not representable yet; the joint imports as independent |
transmission | 33 | ROS transmissions (actuator-to-joint wiring) have no RobotDescription field yet |
Forward-kinematics check
Forward kinematics of 96 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 9.9e-16 rad.
MuJoCo
robot.xml did not compile in MuJoCo: Error: error 'inertia must have positive eigenvalues' in fullinertia
Source & licence
| Repository | https://github.com/ros-aldebaran/romeo_robot |
|---|---|
| Commit | 0.1.5 |
| Original file | romeo_description/urdf/romeo_generated_urdf/romeo.urdf |
| Licence | BSD · the upstream LICENSE file |
| Files | robot.urdf · robot.xml |
Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.