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link="l_upper_arm" /> + <child link="l_upper_arm_dh_frame" /> + </joint> + <joint name="l_hip_yaw" type="revolute"> + <origin xyz="0 0 -0.0665" rpy="-1.5708 -6.16298e-33 -6.12323e-17" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_hip_3" /> + <child link="l_upper_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="40" velocity="100" lower="-1.37881" upper="1.37881" /> + </joint> + <joint name="l_wrist_pitch" type="revolute"> + <origin xyz="0 0.1373 8.4072e-18" rpy="1.5708 1.11022e-16 1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_forearm" /> + <child link="l_wrist_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-1.13446" upper="0.174533" /> + </joint> + <joint name="neck_pitch" type="fixed"> + <origin xyz="0.00231 0.1933 -1.18362e-17" rpy="1.5708 1.11022e-16 1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="chest" /> + <child link="neck_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="-0.698132" upper="0.523599" /> + </joint> + <joint name="neck_roll" type="fixed"> + <origin xyz="0.0095 0 0" rpy="-1.5708 1.11022e-16 -1.5708" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="neck_1" /> + <child link="neck_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="-1.22173" upper="1.0472" /> + </joint> + <joint name="r_ankle_pitch" type="revolute"> + <origin xyz="-0.213 0 0" rpy="1.5708 -0 0" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_lower_leg" /> + <child link="r_ankle_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="24" velocity="100" lower="-0.733038" upper="0.366519" /> + </joint> + <joint name="r_ankle_roll" type="revolute"> + <origin xyz="0 0 0" rpy="0 1.5708 3.14159" /> + <axis xyz="-1 1.22465e-16 0" /> + <parent link="r_ankle_1" /> + <child link="r_ankle_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="11" velocity="100" lower="-0.418879" upper="0.418879" /> + </joint> + <joint name="r_elbow" type="revolute"> + <origin xyz="0 0 0.08428" rpy="3.14159 -0 3.14159" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_upper_arm" /> + <child link="r_elbow_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="0.0959931" upper="1.85005" /> + </joint> + <joint name="r_foot_ft_sensor" type="fixed"> + <origin xyz="0.008 0 0.0553" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_ankle_2" /> + <child link="r_foot" /> + </joint> + <joint name="r_foot_dh_frame_fixed_joint" type="fixed"> + <origin xyz="-0.0263 0 -0.0143" rpy="0 1.5708 -0" /> + <axis xyz="0 0 0" /> + <parent link="r_foot" /> + <child link="r_foot_dh_frame" /> + </joint> + <joint name="r_wrist_prosup" type="revolute"> + <origin xyz="0.015 0 0" rpy="1.5708 -1.11022e-16 -1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_elbow_1" /> + <child link="r_forearm" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.45" velocity="100" lower="-0.872665" upper="0.872665" /> + </joint> + <joint name="r_forearm_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0 -0.1373 -8.4072e-18" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_forearm" /> + <child link="r_forearm_dh_frame" /> + </joint> + <joint name="r_gripper_joint" type="fixed"> + <origin xyz="0.0625 0 0.016" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_hand" /> + <child link="r_gripper" /> + </joint> + <joint name="r_wrist_yaw" type="revolute"> + <origin xyz="0 0 0" rpy="0 -0 3.14159" /> + <axis xyz="0 0 1" /> + <parent link="r_wrist_1" /> + <child link="r_hand" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-0.436332" upper="0.436332" /> + </joint> + <joint name="r_hand_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0.0625 0 0.016" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_hand" /> + <child link="r_hand_dh_frame" /> + </joint> + <joint name="r_hip_pitch" type="revolute"> + <origin xyz="0 0.0681 -0.1199" rpy="0 1.5708 6.12323e-17" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="root_link" /> + <child link="r_hip_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-0.767945" upper="2.30383" /> + </joint> + <joint name="r_hip_roll" type="revolute"> + <origin xyz="0 0 0" rpy="0 1.5708 -6.12323e-17" /> + <axis xyz="-1 0 6.12323e-17" /> + <parent link="r_hip_1" /> + <child link="r_hip_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-2.07694" upper="0.296706" /> + </joint> + <joint name="r_leg_ft_sensor" type="fixed"> + <origin xyz="0 0 0.0665" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_hip_2" /> + <child link="r_hip_3" /> + </joint> + <joint name="r_knee" type="revolute"> + <origin xyz="0 -0.2236 1.36916e-17" rpy="3.14159 -1.2326e-32 1.5708" /> + <axis xyz="0 1.22465e-16 -1" /> + <parent link="r_upper_leg" /> + <child link="r_lower_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="30" velocity="100" lower="-2.18166" upper="0.401426" /> + </joint> + <joint name="r_shoulder_pitch" type="revolute"> + <origin xyz="0.00525 0.1433 0.11026" rpy="-1.309 -0 1.5708" /> + <axis xyz="0 1 5.55112e-17" /> + <parent link="chest" /> + <child link="r_shoulder_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-1.65806" upper="0.0872665" /> + </joint> + <joint name="r_shoulder_roll" type="revolute"> + <origin xyz="0 0 0" rpy="-1.5708 1.11022e-16 -1.5708" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="r_shoulder_1" /> + <child link="r_shoulder_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="0" upper="2.80649" /> + </joint> + <joint name="r_shoulder_yaw" type="revolute"> + <origin xyz="-4.33681e-19 0 0" rpy="3.14159 -0 1.309" /> + <axis xyz="0 6.12323e-17 -1" /> + <parent link="r_shoulder_2" /> + <child link="r_shoulder_3" /> + <dynamics damping="1" friction="0" /> + <limit effort="34" velocity="100" lower="-0.645772" upper="1.74533" /> + </joint> + <joint name="r_sole_fixed_joint" type="fixed"> + <origin xyz="-0.0263 -1.38778e-17 -0.0143" rpy="3.14159 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_foot" /> + <child link="r_sole" /> + </joint> + <joint name="r_arm_ft_sensor" type="fixed"> + <origin xyz="0.015 -8.93429e-18 0.068" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_shoulder_3" /> + <child link="r_upper_arm" /> + </joint> + <joint name="r_upper_arm_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0 0 0.08428" rpy="1.5708 -0 3.14159" /> + <axis xyz="0 0 0" /> + <parent link="r_upper_arm" /> + <child link="r_upper_arm_dh_frame" /> + </joint> + <joint name="r_hip_yaw" type="revolute"> + <origin xyz="0 0 -0.0665" rpy="-1.5708 -6.16298e-33 6.12323e-17" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="r_hip_3" /> + <child link="r_upper_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="40" velocity="100" lower="-1.37881" upper="1.37881" /> + </joint> + <joint name="r_wrist_pitch" type="revolute"> + <origin xyz="0 -0.1373 -8.4072e-18" rpy="1.5708 1.11022e-16 1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_forearm" /> + <child link="r_wrist_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-1.13446" upper="0.174533" /> + </joint> + <joint name="base_fixed_joint" type="fixed"> + <origin xyz="0 0 0" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="base_link" /> + <child link="root_link" /> + </joint> + <joint name="torso_joint" type="fixed"> + <origin xyz="0.00231 0.1933 -1.18362e-17" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="chest" /> + <child link="torso" /> + </joint> + <joint name="torso_pitch" type="revolute"> + <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="root_link" /> + <child link="torso_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="36" velocity="100" lower="-0.383972" upper="1.46608" /> + </joint> + <joint name="torso_roll" type="revolute"> + <origin xyz="0.032 -2.67276e-51 0" rpy="1.5708 -1.11022e-16 -1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="torso_1" /> + <child link="torso_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="80" velocity="100" lower="-0.680678" upper="0.680678" /> + </joint> + <gazebo reference="l_arm_ft_sensor"> + <sensor name="left_arm_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="r_arm_ft_sensor"> + <sensor name="right_arm_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="l_leg_ft_sensor"> + <sensor name="left_leg_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="r_leg_ft_sensor"> + <sensor name="right_leg_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="l_foot_ft_sensor"> + <sensor name="left_foot_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="r_foot_ft_sensor"> + <sensor name="right_foot_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <sensor type="force_torque" name="l_arm_ft_sensor"> + <parent joint="l_arm_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="r_arm_ft_sensor"> + <parent joint="r_arm_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="l_leg_ft_sensor"> + <parent joint="l_leg_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="r_leg_ft_sensor"> + <parent joint="r_leg_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="l_foot_ft_sensor"> + <parent joint="l_foot_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="r_foot_ft_sensor"> + <parent joint="r_foot_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> +</robot>